Vehicle corner modules and systems and methods for installation thereof

ABSTRACT

Vehicle corner modules (VCMs) connectable to a VCM-connection interface of a reference-frame of a vehicle platform, for regulating motion of a vehicle. When a wheel is mounted on a wheel-hub assembly of the VCM, a vehicle-connection interface of the VCM is disposed within a cylindrical footprint of the wheel. At least one of the at least one subsystem of the VCM is accommodated between the wheel-hub assembly and the vehicle-connection interface. Vehicle platforms are connectable to the VCMs. The connection of the vehicle platform to the VCM may include connection of subsystems of the VCM to electronic or flow subsystems mounted on the vehicle platform by connection of two portions of a multi-interface connection-element.

RELATED APPLICATION

The present application gains priority from U.S. Provisional PatentApplication No. 63/196,700 filed on Jun. 4, 2021, which is incorporatedherein by reference in its entirety. The present application is acontinuation of U.S. patent application Ser. No. 17/555,459, filed onDec. 19, 2021, which is incorporated herein by reference in itsentirety.

FIELD OF THE INVENTION

The present invention relates to Vehicle Corner Modules (VCMs) forregulating the motion of a vehicle, and particularly to systems andmethods for installing the VCMs on a reference frame, or platform, ofthe vehicle.

BACKGROUND OF THE INVENTION

With the future of automotive ownership becoming less privately-ownedand more fleet-based and shared-mobility based, maintenance of suchfuture vehicles is becoming a major factor in the profitability ofvehicle fleets. Vehicle platforms designed for electric propulsion caninclude axle-less wheel assemblies, which have independent suspension,drivetrain, braking and steering subsystems between wheel assembliesassembled on a platform of the vehicle.

Connection or removal of the subsystems associated with the wheelassemblies to and of the vehicle platform can be a complex andspecialized job.

There is therefore a need for systems and methods for simple and quickinstallation and removal of one or more wheel assemblies on and off areference frame of a vehicle.

SUMMARY OF EMBODIMENTS OF THE INVENTION

Some embodiments of the invention relate to methods and systems forinstalling the VCMs on a reference frame, or platform, of the vehicle.These include various interfaces for installing the VCMs on thereference frames, as well as specialized connectors simplifying theinstallation of the VCMs.

There is thus provided, in accordance with an embodiment of theteachings herein, a vehicle corner module (VCM) connectable to aVCM-connection interface of a reference-frame of a vehicle platform, forregulating motion of a vehicle, the VCM including:

-   -   a sub-frame including a vehicle-connection interface for        reversible mechanical connection of the VCM to the        VCM-connection interface of the reference frame;    -   a wheel-hub assembly including a wheel-hub adapted for mounting        of a wheel thereon; and    -   at least one subsystem of the vehicle, mounted onto the        sub-frame, the at least one subsystem being selected from the        group of subsystems consisting of a drive subsystem, a steering        subsystem, a suspension subsystem, and a braking subsystem,    -   wherein, when a wheel is mounted on the wheel-hub assembly, the        vehicle-connection interface is disposed within a cylindrical        footprint of the wheel, and    -   wherein at least one of the at least one subsystem is        accommodated between the wheel-hub assembly and the        vehicle-connection interface.

In some embodiments, when the sub-frame is connected to thereference-frame by engagement of the vehicle-connection interface withthe VCM-connection interface, the vehicle-connection interface isdisposed between the wheel and the reference-frame.

In some embodiments, when the sub-frame is connected to thereference-frame by engagement of the vehicle-connection interface withthe VCM-connection interface, the vehicle-connection interface isdisposed at a height between a height of an upper surface of thereference-frame and a height of a lower surface of the reference-frame.

In some embodiments, the vehicle further includes at least one powersupply, and the VCM further includes at least one connector forconnection to the at least one power supply, such that, when the VCM isconnected to the vehicle, the at least one power supply powers the atleast one subsystem.

In some embodiments, the at least one subsystem includes at least one ofa subsystem disposed between the wheel-hub assembly and thevehicle-connection interface, and a subsystem mounted onto a portion ofthe sub-frame adapted, when the sub-frame is connected to thereference-frame, to be disposed within the reference frame, betweenupper and lower surfaces of the reference frame.

In some embodiments, all of the subsystems in the plurality ofsubsystems are disposed between the wheel-hub assembly and thevehicle-connection interface.

In some embodiments, connection of the sub-frame to the reference-frameby engagement of the vehicle-connection interface with theVCM-connection interface is carried out when the vehicle-connectioninterface of the VCM is disposed at a height of the reference-frame.

In some embodiments, the VCM-connection interface includes a barextending from the reference-frame in a direction parallel to alongitudinal axis of the reference-frame, and the vehicle-connectioninterface includes a clamp adapted to be clamped onto the bar, therebyto connect the VCM to the vehicle. In some such embodiments, clamping ofthe clamp about the bar is adapted to be reinforced by at least onefastener. In some embodiments, the clamp is slidable onto the bar.

In some embodiments, the bar extends between the reference frame and abumper of the vehicle platform. In some such embodiments, the clamp ismounted onto the bar prior to installation of the bumper, such thatinstallation of the bumper reinforces the connection of the VCM to thevehicle platform.

In some embodiments, the sub-frame is adapted for attachment to a flatreference-frame which is devoid of raised connection portions disposedabove an upper surface of the reference-frame or below a lower surfaceof the reference-frame.

In some embodiments, the sub-frame includes a second connectioninterface, adapted for connection to a vehicle assembly coupled to thereference-frame. In some such embodiments, the vehicle assembly includesa top-hat frame of the vehicle, which is adapted to envelop the wheel.

In some embodiments, the vehicle-connection interface includes aplurality of fasteners adapted for fastening the VCM to correspondingbores forming part of the VCM-connection interface of thereference-frame.

In some embodiments, the vehicle-connection interface is adapted forsnap-fit engagement with the VCM-connection interface of thereference-frame.

In some embodiments, the at least one subsystem includes a suspensionsubsystem, disposed between the wheel-hub assembly and thevehicle-connection interface.

In some embodiments, the VCM is devoid of a steering subsystem, andincludes a drive subsystem. In other embodiments, the VCM is devoid of adrive subsystem, and includes a steering subsystem.

In some embodiments, at least one of camber, caster, and toe angle ofthe wheel is adjustable by making adjustments to the engagement betweenthe vehicle-connection interface and the VCM-connection interface, whenthe VCM is connected to the vehicle platform.

In some embodiments, the VCM further includes a VCM-portion of amulti-interface connection-element, mounted onto the sub-frame andadapted for connection to a vehicle-platform-portion of themulti-interface connection-element, the vehicle-platform-portion beingmounted onto the reference-frame of the vehicle platform and connectedto multiple electronic or flow subsystems of the vehicle. TheVCM-portion of the multi-interface connection-element may includemultiple connection interfaces for connection of the VCM-portion to thevehicle-platform-portion, thereby to connect the VCM to each of themultiple electronic subsystems of the vehicle. Each of the multipleelectronic or flow subsystems may be selected from the group consistingof a power supply of the vehicle, a control-circuit of the vehicle, acomputerized controller of the vehicle, a network bus of the vehicle, anetwork interface of the vehicle, a coolant flow subsystem of thevehicle, an oil flow subsystem of the vehicle, and a brake-fluid flowsubsystem of the vehicle.

There is additionally provided, in accordance with an embodiment of theteachings herein, a vehicle corner module (VCM) connectable to aVCM-connection interface of a reference-frame of a vehicle platform, forregulating motion of a vehicle, the VCM including:

-   -   a sub-frame including a vehicle-connection interface for        reversible mechanical connection of the VCM to the        VCM-connection interface of the reference frame;    -   a wheel-hub assembly including a wheel-hub adapted for mounting        of a wheel thereon; and    -   at least one subsystem of the vehicle, mounted onto the        sub-frame, the at least one subsystem being selected from the        group of subsystems consisting of a drive subsystem, a steering        subsystem, a suspension subsystem, and a braking subsystem,    -   wherein, when a wheel is mounted on the wheel-hub assembly, the        vehicle-connection interface is disposed within a cylindrical        footprint of the wheel, and    -   wherein, when the sub-frame is connected to the reference-frame        by engagement of the vehicle-connection interface with the        VCM-connection interface, the vehicle-connection interface is        disposed at a height between a height of an upper surface of the        reference-frame and a height of a lower surface of the        reference-frame.

In some embodiments, at least one of the at least one subsystem isaccommodated between the wheel-hub assembly and the vehicle-connectioninterface.

In some embodiments, when the sub-frame is connected to thereference-frame by engagement of the vehicle-connection interface withthe VCM-connection interface, the vehicle-connection interface isdisposed between the wheel and the reference-frame.

In some embodiments, the vehicle further includes at least one powersupply, and the VCM further includes at least one connector forconnection to the at least one power supply, such that, when the VCM isconnected to the vehicle, the at least one power supply powers the atleast one subsystem.

In some embodiments, the at least one subsystem includes at least one ofa subsystem disposed between the wheel-hub assembly and thevehicle-connection interface and a subsystem mounted onto a portion ofthe sub-frame adapted, when the sub-frame is connected to thereference-frame, to be disposed within the reference frame, betweenupper and lower surfaces of the reference frame.

In some embodiments, all of the subsystems in the plurality ofsubsystems are disposed between the wheel-hub assembly and thevehicle-connection interface.

In some embodiments, connection of the sub-frame to the reference-frameby engagement of the vehicle-connection interface with theVCM-connection interface is carried out when the vehicle-connectioninterface of the VCM is disposed at a height of the reference-frame.

In some embodiments, the VCM-connection interface includes a barextending from the reference-frame in a direction parallel to alongitudinal axis of the reference-frame, and the vehicle-connectioninterface includes a clamp adapted to be clamped onto the bar, therebyto connect the VCM to the vehicle. In some embodiments, clamping of theclamp about the bar is adapted to be reinforced by at least onefastener. In some embodiments, the clamp is slidable onto the bar. Insome embodiments, the bar extends between the reference frame and abumper of the vehicle platform. In some embodiments, the clamp isslidable onto the bar prior to installation of the bumper, such thatinstallation of the bumper reinforces the connection of the VCM to thevehicle platform.

In some embodiments, the sub-frame is adapted for attachment to a flatreference-frame which is devoid of raised connection portions disposedabove an upper surface of the reference frame or below a lower surfaceof the reference frame.

In some embodiments, the sub-frame includes a second connectioninterface, adapted for connection to a vehicle assembly coupled to thereference frame. In some embodiments, the vehicle assembly includes atop-hat frame of the vehicle, which is adapted to envelop the wheel.

In some embodiments, the vehicle-connection interface includes aplurality of fasteners adapted for fastening the VCM to correspondingbores forming part of the VCM-connection interface of thereference-frame.

In some embodiments, the vehicle-connection interface is adapted forsnap-fit engagement with the VCM-connection interface of thereference-frame.

In some embodiments, the at least one subsystem includes a suspensionsubsystem, disposed between the wheel-hub assembly and thevehicle-connection interface.

In some embodiments, the VCM is devoid of a steering subsystem, andincludes a drive subsystem. In other embodiments, the VCM is devoid of adrive subsystem, and includes a steering subsystem.

In some embodiments, at least one of camber, caster, and toe angle ofthe wheel is adjustable by making adjustments to the engagement betweenthe vehicle-connection interface and the VCM-connection interface, whenthe VCM is connected to the vehicle platform.

In some embodiments, the VCM further includes a VCM-portion of amulti-interface connection-element, mounted onto the sub-frame andadapted for connection to a vehicle-platform-portion of themulti-interface connection-element, the vehicle-platform-portion beingmounted onto the reference-frame of the vehicle platform and connectedto multiple electronic or flow subsystems of the vehicle. TheVCM-portion of the multi-interface connection-element may includemultiple connection interfaces for connection of the VCM-portion to thevehicle-platform-portion, thereby to connect the VCM to each of themultiple electronic subsystems of the vehicle. Each of the multipleelectronic or flow subsystems may be selected from the group consistingof a power supply of the vehicle, a control-circuit of the vehicle, acomputerized controller of the vehicle, a network bus of the vehicle, anetwork interface of the vehicle, a coolant flow subsystem of thevehicle, an oil flow subsystem of the vehicle, and a brake-fluid flowsubsystem of the vehicle.

There is further provided, in accordance with an embodiment of theteachings herein, a vehicle platform of a vehicle, adapted forconnection to at least one Vehicle Corner Module (VCM) adapted toregulate motion of the vehicle, the vehicle platform including areference frame including:

-   -   an upper surface and a lower surface; and    -   at least one bar, forming a VCM-connection interface adapted to        have a clamp of the VCM mounted thereon for reversible        mechanical connection of the VCM to the reference frame.

In some embodiments, the bar is sized and configured for slidablemounting of the VCM thereonto.

In some embodiments, the vehicle platform further includes at least onebumper, mounted onto the reference frame, distal to the bar. In someembodiments, the bar engages both the reference frame and the bumper. Inother embodiments, the bar engages the reference frame and extends fromthe reference frame towards the bumper, without engaging the bumper.

In some embodiments, the vehicle platform further includes avehicle-platform-portion of a multi-interface connection-element,mounted onto the reference frame and connected to multiple electronic orflow subsystems of the vehicle, the vehicle-platform-portion beingadapted for connection to a VCM-portion of the multi-interfaceconnection-element, the VCM-portion being mounted onto a sub-frame ofthe VCM. The vehicle-platform-portion of the multi-interfaceconnection-element may include multiple connection interfaces forconnection of the vehicle-platform-portion to the VCM-portion, therebyto connect the VCM to each of the multiple electronic subsystems of thevehicle. Each of the multiple electronic or flow subsystems may beselected from the group consisting of a power supply of the vehicle, acontrol-circuit of the vehicle, a computerized controller of thevehicle, a network bus of the vehicle, a network interface of thevehicle, a coolant flow subsystem of the vehicle, an oil flow subsystemof the vehicle, and a brake-fluid flow subsystem of the vehicle.

There is also provided, in accordance with an embodiment of theteachings herein, a vehicle including:

-   -   a vehicle platform including a reference frame having an upper        surface and a lower surface, the reference frame including at        least one VCM-connection interface;    -   at least one vehicle corner module (VCM) connected to a        VCM-connection interface of the reference-frame, the at least        one VCM adapted for regulating motion of the vehicle, the VCM        including:        -   a sub-frame including a vehicle-connection interface            reversibly and mechanically engaging the VCM-connection            interface of the reference frame;        -   a wheel-hub assembly including a wheel-hub adapted for            mounting of a wheel thereon; and        -   at least one subsystem of the vehicle, mounted onto the            sub-frame, the at least one subsystem being selected from            the group of subsystems consisting of a drive subsystem, a            steering subsystem, a suspension subsystem, and a braking            subsystem,    -   wherein, when a wheel is mounted on the wheel-hub assembly, the        vehicle-connection interface and the VCM-connection interface        are accommodated within a cylindrical footprint of the wheel.

In some embodiments, the vehicle-connection interface of the sub-frameis reversibly and mechanically connected to the VCM-connection interfaceof the reference frame.

In some embodiments, the vehicle-connection interface and theVCM-connection interface are disposed at a height between a height ofthe upper surface of the reference-frame and a height of the lowersurface of the reference-frame.

In some embodiments, at least one of the at least one subsystem isaccommodated between the wheel-hub assembly and the vehicle-connectioninterface.

In some embodiments, the vehicle-connection interface is disposedbetween the wheel and the reference-frame.

In some embodiments, the vehicle further includes at least one powersupply, the VCM being connected to the at least one power supply suchthat the at least one power supply powers the at least one subsystem.

In some embodiments, the at least one subsystem includes at least one ofa subsystem disposed between the wheel-hub assembly and thevehicle-connection interface and a subsystem mounted onto a portion ofthe sub-frame disposed within the reference frame, between upper andlower surfaces of the reference frame.

In some embodiments, all of the subsystems in the plurality ofsubsystems are disposed between the wheel-hub assembly and thevehicle-connection interface.

In some embodiments, the sub-frame is connected to the reference-framewhen the vehicle-connection interface of the VCM is disposed at a heightof the reference-frame.

In some embodiments, the VCM-connection interface includes a barextending from the reference-frame in a direction parallel to alongitudinal axis of the reference-frame, and the vehicle-connectioninterface includes a clamp clamped onto the bar, thereby connecting theVCM to the reference-frame. In some embodiments, clamping of the clampabout the bar is adapted to be reinforced by at least one fastener. Insome embodiments, the clamp is slidable onto the bar.

In some embodiments, the vehicle platform further includes a bumper, andthe bar extends between the reference frame and the bumper. In someembodiments, the clamp is slidable onto the bar prior to installation ofthe bumper, such that installation of the bumper reinforces theconnection of the VCM to the vehicle platform.

In some embodiments, the reference-frame is flat and is devoid of raisedconnection portions disposed above an upper surface of the referenceframe or below a lower surface of the reference frame.

In some embodiments, the vehicle platform includes a vehicle assemblycoupled to the reference frame and the sub-frame includes a secondconnection interface, connected to the vehicle assembly. In someembodiments, the vehicle assembly includes a top-hat frame envelopingthe wheel.

In some embodiments, the vehicle-connection interface includes aplurality of fasteners fastening the VCM to corresponding bores formingpart of the VCM-connection interface of the reference-frame.

In some embodiments, the vehicle-connection interface engages theVCM-connection interface of the reference-frame by snap-fit engagement.

In some embodiments, the at least one subsystem includes a suspensionsubsystem, disposed between the wheel-hub assembly and thevehicle-connection interface.

In some embodiments, the VCM is devoid of a steering subsystem, andincludes a drive subsystem. In other embodiments, the VCM is devoid of adrive subsystem, and includes a steering subsystem.

In some embodiments, at least one of camber, caster, and toe angle ofthe wheel is adjustable by adjusting the engagement between thevehicle-connection interface and the VCM-connection interface.

In some embodiments, the vehicle further includes multiple electronic orflow subsystems, each selected from the subsystem group consisting of apower supply, a control-circuit, a computerized controller, a networkbus, a network interface, a coolant flow subsystem, an oil flowsubsystem, and a brake fluid flow subsystem. The vehicle furtherincludes a multi-interface connection-element including a VCM-portionmounted onto the sub-frame, reversibly connected to a correspondingvehicle-platform-portion mounted onto the reference-frame and connectedto the multiple electronic or flow subsystems, each of the VCM-portionand the vehicle-platform-portion including multiple connectioninterfaces for connection to the other of the VCM-portion and thevehicle-platform-portion. Connection of the VCM-portion to thevehicle-platform-portion of the multi-interface connection-elementresults in connection of the VCM to the multiple electronic or flowsubsystems.

In some embodiments, for each electronic or flow subsystem of themultiple electronic or flow subsystems, one of the VCM-portion andvehicle-platform-portion of the multi-interface connection-elementincludes a port, and the other of the VCM-portion andvehicle-platform-portion includes a corresponding plug, which, when thefirst and second portions are connected, is received in the port toconnect the VCM to the electronic or flow subsystem.

There is additionally provided, in accordance with an embodiment of theteachings herein, a vehicle corner module (VCM) connectable to aVCM-connection interface of a reference-frame of a vehicle platform, thereference-frame having mounted thereon a vehicle-platform-portion of amulti-interface connection-element, the vehicle-platform-portionincluding multiple connection interfaces, each connected to one ofmultiple electronic or flow subsystems of the vehicle, the VCMincluding:

-   -   a sub-frame including a vehicle-connection interface for        reversible mechanical connection of the VCM to the        VCM-connection interface of the reference frame;    -   a wheel-hub assembly including a wheel-hub adapted for mounting        of a wheel thereon;    -   at least one subsystem of the vehicle, mounted onto the        sub-frame, the at least one subsystem being selected from the        group of subsystems consisting of a drive subsystem, a steering        subsystem, a suspension subsystem, and a braking subsystem; and    -   a VCM-portion of the multi-interface connection-element mounted        onto the sub-frame, the VCM-portion being connectable to the        vehicle-platform-portion of the multi-interface        connection-element and including multiple corresponding        connection interfaces for connection to connection interfaces of        the vehicle-platform-portion,    -   wherein, connection of the VCM-portion to the        vehicle-platform-portion of the multi-interface        connection-element results in connection of the VCM to the        multiple electronic or flow subsystems.

In some embodiments, each of the multiple corresponding connectioninterfaces is adapted for connection of the VCM to one of the multipleelectronic or flow subsystems, each of which is selected from thesubsystem group consisting of power supply of the vehicle, acontrol-circuit of the vehicle, a computerized controller of thevehicle, a network bus of the vehicle, a network interface of thevehicle, a coolant flow subsystem of the vehicle, an oil flow subsystemof the vehicle, and a brake-fluid flow subsystem of the vehicle. In someembodiments, each of the multiple corresponding connector interfaces ofthe VCM-portion includes a plug adapted to be inserted into a port inthe vehicle-platform-portion or a port adapted to receive a plug of thevehicle-platform-portion.

In some embodiments, when a wheel is mounted on the wheel-hub assembly,the vehicle-connection interface is disposed within a cylindricalfootprint of the wheel. In some embodiments, at least one of the atleast one subsystem is accommodated between the wheel-hub assembly andthe vehicle-connection interface.

In some embodiments, when the sub-frame is connected to thereference-frame by engagement of the vehicle-connection interface withthe VCM-connection interface, the vehicle-connection interface isdisposed between the wheel and the reference-frame.

In some embodiments, when the sub-frame is connected to thereference-frame by engagement of the vehicle-connection interface withthe VCM-connection interface, the vehicle-connection interface isdisposed at a height between a height of an upper surface of thereference-frame and a height of a lower surface of the reference-frame.

In some embodiments, the vehicle further includes at least one powersupply, and the VCM further includes at least one connector forconnection to the at least one power supply, such that, when the VCM isconnected to the vehicle, the at least one power supply powers the atleast one subsystem.

In some embodiments, the at least one subsystem includes at least one ofa subsystem disposed between the wheel-hub assembly and thevehicle-connection interface and a subsystem mounted onto a portion ofthe sub-frame adapted, when the sub-frame is connected to thereference-frame, to be disposed within the reference frame, betweenupper and lower surfaces of the reference frame.

In some embodiments, all of the subsystems in the plurality ofsubsystems are disposed between the wheel-hub assembly and thevehicle-connection interface.

In some embodiments, connection of the sub-frame to the reference-frameby engagement of the vehicle-connection interface with theVCM-connection interface is carried out when the vehicle-connectioninterface of the VCM is disposed at a height of the reference-frame.

In some embodiments, the VCM-connection interface includes a barextending from the reference-frame in a direction parallel to alongitudinal axis of the reference-frame, and the vehicle-connectioninterface includes a clamp adapted to be clamped onto the bar, therebyto connect the VCM to the vehicle. In some embodiments, clamping of theclamp about the bar is adapted to be reinforced by at least onefastener. In some embodiments, the clamp is slidable onto the bar. Insome embodiments, the bar extends between the reference frame and abumper of the vehicle platform.

In some embodiments, the sub-frame is adapted for attachment to a flatreference-frame which is devoid of raised connection portions disposedabove an upper surface of the reference-frame or below a lower surfaceof the reference-frame.

In some embodiments, the sub-frame includes a second connectioninterface, adapted for connection to a vehicle assembly coupled to thereference frame. In some embodiments, the vehicle assembly includes atop-hat frame of the vehicle, which is adapted to envelop the wheel.

In some embodiments, the vehicle-connection interface includes aplurality of fasteners adapted for fastening the VCM to correspondingbores forming part of the VCM-connection interface of thereference-frame.

In some embodiments, the vehicle-connection interface is adapted forsnap-fit engagement with the VCM-connection interface of thereference-frame.

In some embodiments, the at least one subsystem includes a suspensionsubsystem, disposed between the wheel-hub assembly and thevehicle-connection interface.

In some embodiments, the VCM is devoid of a steering subsystem, andincludes a drive subsystem. In other embodiments, the VCM is devoid of adrive subsystem, and includes a steering subsystem.

In some embodiments, at least one of camber, caster, and toe angle ofthe wheel is adjustable by making adjustments to the engagement betweenthe vehicle-connection interface and the VCM-connection interface, whenthe VCM is connected to the vehicle platform.

There is further provided, in accordance with an embodiment of theteachings herein, a method for installing a Vehicle Corner Module (VCM)on a vehicle platform of a vehicle, the method including:

-   -   aligning a vehicle-connection interface of a sub-frame of the        VCM with a reference-frame of the vehicle-platform, such that        the vehicle-connection interface is disposed between upper and        lower surfaces of the reference frame; and    -   without changing the height alignment between the        vehicle-connection interface of the VCM and the reference-frame,        mechanically connect the at least one VCM to the reference-frame        by engagement of the vehicle-connection interface with a        VCM-connection interface of the reference frame.

In some embodiments, the method further includes connecting the VCM tomultiple electronic or flow subsystems of the vehicle by connecting aVCM-portion of a multi-interface connection-element, mounted on thesub-frame, to a vehicle-platform portion of the multi-interfaceconnection-element, forming part of the vehicle platform. In someembodiments, each of the multiple electronic and/or flow subsystems isselected from the subsystem group consisting of a power supply, acontrol-circuit, a computerized controller, a network bus, a networkinterface, a coolant flow subsystem, an oil flow subsystem, and abrake-fluid flow subsystem.

In some embodiments, the mechanically connecting includes pushing theVCM laterally, in a direction perpendicular to a longitudinal axis ofthe reference-frame, for the vehicle-connection interface to engage theVCM-connection interface. In some embodiments, the mechanicallyconnecting includes pushing the VCM longitudinally, in a directionparallel to a longitudinal axis of the reference-frame, for thevehicle-connection interface to engage the VCM-connection interface.

In some embodiments, the mechanically connecting includes placingfasteners which engage the vehicle-connection interface and theVCM-connection interface.

In some embodiments, the VCM-connection interface includes a barextending from the reference frame in a direction parallel to alongitudinal axis of the reference frame, the vehicle-connectioninterface includes a clamp including an opening, the clamp adapted to beclamped onto the bar, and the mechanically connecting includes mountingthe clamp onto the bar. In some embodiments, the mounting of the clamponto the bar includes sliding of the clamp onto the bar.

In some embodiments, the method further includes connecting at least onebumper to the reference frame. In some embodiments, the connecting ofthe bumper occurs after the sliding of the clamp. In other embodiments,the connecting of the bumper occurs prior to the sliding of the clamp.

There is also provided, in accordance with an embodiment of theteachings herein, a multi-interface connection-element for connection ofmultiple electronic or flow vehicle subsystems of a vehicle to a VehicleCorner Module (VCM) mounted onto a reference-frame of a vehicle platformof the vehicle, the VCM being adapted to regulate motion of the vehicle,the multi-interface connection-element including:

-   -   a vehicle-platform-portion mountable onto the reference frame of        the vehicle, the vehicle-platform-portion including multiple        connection interfaces, each adapted to be associated with one of        the multiple electronic or flow vehicle subsystems;    -   a VCM-portion, mountable onto a sub-frame of the VCM, the        VCM-portion including multiple corresponding connection        interfaces adapted for connection to the multiple connection        interfaces of the vehicle-platform-portion,    -   wherein connection of the connection interfaces of the        vehicle-platform-portion to the multiple corresponding        connection interfaces of the VCM-portion results in connection        of the VCM to the multiple electronic or flow subsystems.

In some embodiments, each of the multiple electronic or flow subsystemsis selected from the subsystem group consisting of: a power supply ofthe vehicle, a control-circuit of the vehicle, a computerized controllerof the vehicle, a network bus of the vehicle, a network interface of thevehicle, a coolant flow subsystem of the vehicle, an oil flow subsystemof the vehicle, and a brake-fluid flow subsystem of the vehicle.

In some embodiments, connection of the connection interfaces of thevehicle-platform-portion to the multiple corresponding connectioninterfaces of the VCM-portion results in connection of at least oneVCM-subsystem to at least one of the multiple electronic or flowsubsystems. In some embodiments, the at least one VCM-subsystem includesat least one of a drive subsystem, a steering subsystem, a brakingsubsystem, a suspension subsystem, a VCM controller, and a coolingsubsystem.

In some embodiments, the multi-interface connection-element furtherincludes a motion actuator extending between a back portion of the VCMand a front portion of the VCM, and adapted to actuate motion of theVCM-portion relative to the vehicle-platform-portion for connectionthereof. In some embodiments, the motion actuator is disposed at adifferent portion of the VCM than the VCM-portion, such that motion ofthe VCM-portion can be actuated even when the VCM-portion isinaccessible.

In some embodiments, the motion actuator includes a fastener connectedto the VCM-portion by a connector cable, and wherein motion of theVCM-portion is actuated by operating the fastener to transfer movementactuation forces from the fastener to the VCM-portion.

In some embodiments, the motion actuator includes a fastener connectedto the VCM-portion by a fluid-flow conduit, and wherein motion of theVCM-portion is actuated by transmitting a fluid through the fluid-flowconduit from the fastener to the VCM-portion.

In some embodiments, the motion actuator includes an electrical motor,adapted to be remotely operated by a remote controller.

In some embodiments, a connection-assembly connecting the VCM-portion toa sub-frame of the VCM includes at least one spring, adapted to applyforce on VCM-portion toward the vehicle-platform-portion.

There is additionally provided, in accordance with an embodiment of theteachings herein, a method of connecting at least one VCM-subsystemmounted onto a Vehicle Corner Module (VCM) to at least one electronic orflow subsystem mounted onto a vehicle platform of a vehicle, the methodincluding connecting a VCM-portion of a multi-interfaceconnection-element, mounted on a sub-frame of the VCM and connected tothe at least one VCM-subsystem, to a vehicle-platform-portion of themulti-interface connection-element forming part of the vehicle platformand connected to the at least one vehicle-subsystem, thereby to form aconnection between the at least one VCM-subsystem and the at least oneelectronic or flow subsystem. Each of the VCM-portion and thevehicle-platform-portion of the multi-interface connection-elementincludes a plurality of connection interfaces, each associated with oneof a plurality of electronic or flow subsystems.

In some embodiments, each of the multiple electronic and/or flowsubsystems is selected from the subsystem group consisting of a powersupply, a control-circuit, a computerized controller, a network bus, anetwork interface, a coolant flow subsystem, an oil flow subsystem, anda brake-fluid flow subsystem.

In some embodiments, the connecting of the VCM-portion and thevehicle-platform-portion includes moving the VCM-portion relative to thevehicle-platform-portion until they are connected. In some embodiments,only one of the VCM-portion and the vehicle-platform-portion is movable,and the other is stationary.

In some embodiments, moving the VCM-portion relative to thevehicle-platform-portion includes actuating motion of the VCM-portion bya mechanical mechanism that extends between a back portion of the VCMand a front portion of the VCM. In some embodiments, the mechanicalmechanism actuating motion of the VCM-portion is remote to the locationof the VCM-portion.

In some embodiments, the mechanical mechanism includes a fastenerconnected to the VCM-portion by a connector cable, and wherein theactuating motion includes operating the connector fastener to transfermovement actuation forces from the fastener to the VCM-portion.

In some embodiments, the mechanical mechanism includes a fastenerconnected to the VCM-portion, and wherein actuating motion includesoperating the fastener to transmit movement actuation forces to the VCMportion by fluid communication via the conduit.

In some embodiments, actuation of motion of at least one of theVCM-portion and the vehicle-platform portion is by an electrical motor.In some embodiments, the electrical motor is adapted to be remotelyoperated by a remote controller.

In some embodiments, the connecting is carried out from a front side ofthe VCM, regardless of the positioning of the VCM-connector within theVCM.

Unless otherwise defined, all technical and scientific terms used hereinhave the same meaning as commonly understood by one of ordinary skill inthe art to which the invention pertains. In case of conflict, thespecification, including definitions, will take precedence.

As used herein, the terms “comprising”, “including”, “having” andgrammatical variants thereof are to be taken as specifying the statedfeatures, integers, steps or components but do not preclude the additionof one or more additional features, integers, steps, components orgroups thereof. These terms encompass the terms “consisting of” and“consisting essentially of”.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic block diagram of a VCM and a vehicle platformadapted to have the VCM mounted thereon, according to an embodiment ofthe disclosed technology;

FIG. 2 is a photograph of a multi-interface connection-element forconnection of a VCM to vehicle subsystems installed on a reference frameof the vehicle platform, according to an embodiment of the disclosedtechnology;

FIGS. 3A and 3B are schematic images of connection interfaces ofrespective vehicle-platform- and VCM-portions of the multi-interfaceconnection-element of FIG. 2 ;

FIG. 4 is a perspective view illustration of a VCM-portion of themulti-interface connection-element of FIG. 2 ;

FIG. 5 is a perspective view illustration of a VCM-portion of themulti-interface connection-element of FIG. 2 , including connection tovarious subsystems of a VCM, according to some embodiments of thedisclosed technology;

FIG. 6 is a schematic top-view diagram of a VCM installed onto areference frame of a vehicle platform, according to an embodiment of thedisclosed technology;

FIGS. 7A, 7B, and 7C are schematic top-view diagrams of steps ofinstallation of the VCM of FIG. 6 onto the reference-frame of thevehicle platform, according to one installation method;

FIGS. 8A, 8B, and 8C are schematic top-view diagrams of steps ofinstallation of the VCM of FIG. 6 onto the reference-frame of thevehicle platform, according to another installation method;

FIG. 9 is a perspective view illustration of a portion of a VCM suitablefor connection to a reference-frame of a vehicle platform in accordancewith the methods of FIGS. 7A to 8C;

FIGS. 10A and 10B are perspective view illustrations of a VCM suitablefor connection to a reference-frame of a vehicle platform in accordancewith the methods of FIGS. 7A to 8C, and including the portion of FIG. 9;

FIGS. 11A, 11B, 11C, and 11D are perspective view illustrations of stepsof installing VCMs as shown in FIGS. 10A and 10B onto a reference frameof a vehicle platform;

FIG. 12 is a perspective view illustration of a sub-frame of a VCM and areference frame of a vehicle platform, detached from one another,according to some embodiments of the disclosed technology;

FIGS. 13A and 13B are perspective view illustrations of the sub-frameand reference-frame of FIG. 12 , when connected to each other;

FIGS. 14A and 14B are, respectively, a perspective view illustration anda side view planar illustration of the VCM including the sub-frame ofFIGS. 12 to 13B, and including subsystems thereof, where in FIG. 14B thesub-frame is installed on the reference-frame;

FIG. 15 is a partial perspective view of an additional connection of thesub-frame of the VCM to a portion of the reference frame of the vehicleplatform, according to some embodiments of the disclosed technology;

FIGS. 16A and 16B are photographs of the VCM of FIGS. 14A and 14B, priorto installation thereof on the reference frame;

FIGS. 17A, 17B, 17C, and 17D are photographs of the VCM of FIGS. 14A and14B following installation thereof on the reference frame;

FIG. 18 is a perspective view illustration of a VCM according to anotherembodiment of the disclosed technology;

FIGS. 19A, 19B, and 19C are perspective view illustrations and a frontview planar illustration of a VCM similar to the VCM of FIG. 18 ;

FIG. 20 is a perspective view illustration of a reference-frame of avehicle platform, including a VCM-connection interface for connection tothe VCM of FIG. 18 ;

FIGS. 21A and 21B are, respectively, a perspective view illustration anda planar back view illustration of a VCM according to yet anotherembodiment of the disclosed technology;

FIG. 22 is a perspective view illustration of the VCM similar to the VCMof FIGS. 21A and 21B, and having a similar sub-frame structure to theVCM of FIGS. 21A and 21B;

FIG. 23 is a perspective view illustration of a reference-frame of avehicle platform, including a VCM-connection interface for connection tothe VCM of FIGS. 21A to 22 ; and

DETAILED DESCRIPTION OF SOME EMBODIMENTS OF THE INVENTION

The invention, in some embodiments, relates to methods and systems forinstalling Vehicle Corner Modules (VCMs) on a reference frame, orplatform, of the vehicle. These include various interfaces forinstalling the VCMs on the reference frames, as well as specializedconnectors simplifying the installation of the VCMs.

For convenience, in the context of the description herein, various termsare presented here. To the extent that definitions are provided,explicitly or implicitly, here or elsewhere in this application, suchdefinitions are understood to be consistent with the usage of thedefined terms by those of skill in the pertinent art(s). Furthermore,such definitions are to be construed in the broadest possible senseconsistent with such usage.

Unless otherwise indicated, a “vehicle corner module” or “VCM” as usedherein means an assembly for supporting a wheel of a vehicle andregulating the motion of a vehicle according to any of the embodimentsdisclosed herein. The VCM assembly includes components such as (and notexhaustively): steering systems, suspension systems, braking systemsincluding hydraulic subsystems, gearing assemblies, drive motors, driveshafts, wheel hub assemblies, controllers, communications arrangements,and electrical wiring. In some embodiments, a VCM can include a wheeland tire. A VCM can be mounted to a ‘reference frame’ of a vehicle,e.g., a chassis or similar vehicle frame or a platform. When a VCM isdescribed as being installed in/on a vehicle, then the VCM is mounted tothe reference frame. A VCM may include a ‘sub-frame’ to which some orall of the VCM components are mounted or otherwise attached. In somecases, the sub-frame mediates between the reference frame and thevarious VCM components.

The term ‘sub-frame’ should be understood to mean any rigid frame or oneor more structural elements in fixed combination. The ‘sub’ prefix isintended to distinguish the sub-frame from a main frame or referenceframe of the vehicle. A VCM may or may not include one or more electricmotors and/or the wheel itself (and tire).

When used in this specification and in the claims appended hereto, theword “vehicle” is to be understood as referring to a vehicle having oneor more wheels. Non-limiting examples of a vehicle, according to thisdefinition, are a vehicle with motive power provided by an onboardengine, and an ‘electric vehicle’ powered, when in motion, by one ormore electric motors and a battery or other energy storage deviceonboard. The battery need not be provided with the vehicle, or installedin the vehicle, unless and until the vehicle is in motion. The word‘vehicle’ should also be understood as encompassing a “vehicle platform”comprising at least a chassis (or other ‘reference frame’ to which VCMscan be mounted) and one or more wheels. A ‘vehicle platform’ need notnecessarily comprise, at the time of providing the vehicle platform, allof the accoutrements required for transport of passengers and/or cargosuch as vehicle-body components or interior furnishings.

The term “controller” as used herein means a computing device configuredfor monitoring, controlling, regulating and/or actuating one or morecomponents, systems or subsystems. A controller should be understood toinclude any or all of (and not exhaustively): one or more processors,one or more computer-readable media, e.g., transient and/ornon-transient storage media, communications arrangements, a power sourceand/or a connection to a power source, and firmware and/or software.When used herein in a hyphenated expression such as vehicle-controlleror VCM-controller, the term means a controller for controlling thevehicle and/or components and/or subsystems of the vehicle, or acontroller for controlling the VCM and/or components and/or subsystemsof the VCM, respectively. Unless specifically noted otherwise, acontroller is installed in or on the controlled element (vehicle, VCM,etc.) while a “control unit” is like a controller but is not installedin or on the controlled element. For example, a VCM-controller islocated in or on the VCM, while a VCM control unit is not, and may belocated elsewhere on the vehicle, e.g., on the chassis unit. Controllers(and control units) can be programmed in advance, e.g., by havingprogram instructions stored in the computer-readable media for executionby one of more processors of the controller. Thus, a controller‘configured’ to perform a function is equivalent herein to thecontroller being programmed, i.e., having access to stored programinstructions for execution, to perform the function.

In the following detailed description, numerous specific details are setforth in order to provide a thorough understanding of the invention.However, it will be understood by those skilled in the art that thepresent invention may be practiced without these specific details. Inother instances, well-known methods, procedures, and components have notbeen described in detail so as not to obscure the present invention.

Reference is now made to FIG. 1 , which is a schematic block diagram ofa VCM and a vehicle platform adapted to have the VCM mounted thereon,according to an embodiment of the disclosed technology.

As seen in FIG. 1 , a vehicle platform 10, which is adapted to have avehicle capsule mounted thereon, includes a vehicle reference-frame 12,having four VCM-connection interfaces 14 adapted for connection to VCMs.In the illustrated embodiment, all four VCM-connection interfaces 14 areidentical to one another. However, in some embodiments, a singlereference-frame may include multiple different types of VCM-connectioninterfaces, for example for connection to different types of VCMs.

Vehicle platform 10 may include one or more electronic subsystems 16mounted onto reference frame 12, which may include a power supply of thevehicle, a control circuit of the vehicle, a computerized controller ofthe vehicle, a network bus of the vehicle, and a network interface ofthe vehicle. Vehicle platform 10 may further include one or more fluidflow subsystems 18 mounted onto reference frame 12, which may include acoolant flow subsystem, an oil flow subsystem, and a brake-fluid flowsubsystem. In some embodiments, reference-frame 12 may also haveattached thereto front and/or rear bumpers 19. Examples of subsystems 16and 18 are described in PCT Patent Application No. PCT/IB2020/062598 andin U.S. Pat. No. 10,919,575, both of which are incorporated by referenceas if fully set forth herein.

A VCM 20, for regulating motion of the vehicle, is connectable toreference frame 12, as explained herein. According to some embodiments,VCM 20 includes a sub-frame 22, including a vehicle-connection interface24 adapted for reversible mechanical connection to VCM-connectioninterface 14 of reference frame 12. VCM 20 further includes a wheel-hubassembly 26, adapted to have a wheel 28 mounted thereon. Sub-frame 22has mounted thereon one or more subsystems of the vehicle, eachcomprising mechanical and/or electrical components. The subsystems mayalso be attached to wheel-hub assembly 26.

As explained in further detail hereinbelow, in some embodiments, whenwheel 28 is mounted on wheel-hub assembly 26, at least a portion ofvehicle-connection interface 24 of VCM 20, and in some embodiments theentirety thereof, is disposed within a cylindrical footprint of thewheel. In the context of the present application, the “cylindricalfootprint of the wheel” is the area resulting from projection of thewheel into another plane, parallel to a rotational plane of the wheel.

As shown in further detail hereinbelow, at least one subsystem mountedon sub-frame 22 is accommodated between wheel-hub assembly 26 andvehicle-connection interface 24. In some embodiments, all the subsystemsmounted on sub-frame 22 are accommodated between wheel-hub assembly 26and vehicle-connection interface 24. In other embodiments, in additionto the subsystem accommodated between the wheel-hub assembly and thevehicle-connection interface, at least one subsystem mounted ontosub-frame 22 is mounted onto a portion of the sub-frame, which, when thesub-frame is connected to reference frame 12, is disposed within thereference frame. In some embodiments, at least one subsystem mounted onsub-frame 22 is accommodated between wheel-hub assembly 26 and sub-frame22.

As explained in further detail hereinbelow, when sub-frame 22 isconnected to reference-frame 12 by engagement of the vehicle-connectioninterface 24 with the VCM-connection interface 14, thevehicle-connection interface may be disposed at a height between aheight of an upper surface of the reference-frame and a height of alower surface of the reference-frame. Even though the vehicle-connectioninterface is between the upper and lower surfaces of thereference-frame, there may be portions of the sub-frame which areoutside of this range. In some embodiments, the height ofvehicle-connection interface is between the heights of the upper andlower surfaces in a localized manner. In such embodiments, thevehicle-connection interface is between the height of the upper andlower surfaces, within a distance of 20-50 cm from thevehicle-connection interface. However, in other, more distant portionsof the reference frame, the upper and lower surfaces may be at differentheights, such that the vehicle-connection interface is not between theupper and lower surfaces in those more distant portions.

The subsystems included in the VCM may include a drive subsystem 30, asteering subsystem 32, a suspension subsystem 34, and/or a brakingsubsystem 36. Sub-frame 22 may also include a VCM-controller 38, adaptedto control operation of one or more of subsystems 30, 32, 34, and 36,and/or to communicate with one or more electronic subsystems 16 of thevehicle, such as with a computerized controller or a network interfaceof the vehicle.

Drive subsystem 30 may include any or all of the mechanical and/orelectrical components required for actuating a drive shaft to rotatewheel 28, or other wheels of the vehicle, to drive the vehicle,including, and not exhaustively: an electric drive motor, a driveshaftturned by the motor, and gearing assemblies to transmit the rotation tothe wheel including, optionally, a single-hear or multi-geartransmission, as well as sensors such as a wheel speed sensor (in anon-limiting example, a rotary encoder). In some embodiments, the drivemotor is included in the VCM, and in some embodiments, the drive motoris on the vehicle, e.g., installed on reference frame 12. In someembodiments, the drive motor is mounted on sub-frame 22 and thereby is asprung mass.

In embodiments, VCM-controller 38 is adapted to regulate an output ofthe motor and/or a rotational velocity of wheel 28 and/or a selection ofa transmission gear, in response to instructions received via electricalinputs from the vehicle, e.g., from a driver-operated drive mechanism(e.g. an accelerator pedal) or an autonomous driving unit. Inembodiments, the instructions include, for example, a current and avoltage for actuating the electric drive motor.

In embodiments, drive subsystem 30 can be used in a regenerative brakingscheme. In another example, the regenerative braking is boosted byfriction braking, i.e., regular operation of braking subsystem 36.

In some embodiments, ‘cooperation’ of drive subsystem 30 and brakingsubsystem 36 in combining regenerative braking with friction braking canbe controlled by VCM-controller 38. In yet another example, in which theVCM-controller is configured (e.g., programmed) to control multiplesubsystems in cooperation with each other, steering subsystem 32 can beused to assist in braking, i.e., in cooperation with the braking system,for example by turning the wheels so as to increase friction with aroadway, whether by steering symmetrically by having the opposing wheelsturn in the same direction in tandem, or asymmetrically where theopposing wheels do not turn in tandem. In a similar example, theVCM-controller controls steering subsystem 32 in concert with thebraking system to mitigate the effect of brake pull caused by steering,a phenomenon also known as ‘brake steer’ or ‘steering drift’. In yetanother example, the VCM-controller controls, in concert, the drivesystem (with respect to regenerative braking), the braking system (withrespect to friction braking) and the steering system (with respect to‘braking-by-steering’) to achieve a desired braking effect.

Steering subsystem 32 may include any or all of the mechanical and/orelectrical components required for steering, i.e., pivoting the wheel ofthe vehicle around a steering axis, including, and not exhaustively: asteering motor, a steering actuator, steering rods, steering systemcontroller or control unit, steering inverter and wheel-angle sensor.

In some embodiments, VCM-controller 38 receives steering instructions aselectrical (including electronic) inputs from the vehicle, e.g., from adriver-operated steering mechanism or an autonomous steering unit, andcarries out the instructions by causing, responsively to the receivedinstructions, the motion of a steering rod, e.g., via a steeringactuator, to effect the turning of the wheel, for example, by regulatinga current and voltage transmitted to the steering actuator and/ortransmitting high-level instructions to a steering-system controller.The steering motor, actuator and/or inverter can receive electricalpower from an external power source (‘external’ meaning external to theVCM), such as a power supply installed in or on the reference frame.

Suspension subsystem 34 may optionally include an active suspensionsystem controllable by the VCM-controller 38 (e.g., via asuspension-system control unit).

Braking subsystem 36 may include any or all of the mechanical andelectrical components for actuating a brake assembly (e.g., brake disk,brake caliper, etc.) including, optionally, one or more of a VCM-onboardhydraulic system, a VCM onboard vacuum-boost system, or a hybridbrake-assist system incorporating a pressurized-gas accumulator andbrake actuator.

In some embodiments, VCM controller 38 is configured to regulate anoutput of the braking system, e.g., cause a braking action, in responseto instructions received via electrical inputs from the vehicle, e.g.,from a driver-operated braking mechanism (e.g. a brake pedal) or anautonomous braking unit.

In some embodiments, the plurality of VCM subsystems in VCM 20 includesall of subsystems 30, 32, 34, and 36. In other embodiments, theplurality of VCM subsystems in a given VCM 20 may include two or threeof the subsystems.

In some embodiments, the connection interface between VCM 20 andreference frame 12 has one or more degrees of freedom. In suchembodiments, the connection of the VCM to the reference frame isconfigurable, for example to control or configure any one of the casterangle of the wheel, the camber angle of the wheel, and the toe angle ofthe wheel.

Reference is now made to FIG. 2 , which is a photograph of amulti-interface connection-element 50 for connection of VCM subsystems,such as subsystems of VCM 20 of FIG. 1 , to vehicle subsystems installedon a reference frame of the vehicle platform, such as subsystems 16 and18 of FIG. 1 , according to an embodiment of the disclosed technology.Reference is additionally made to FIGS. 3A and 3B, which are schematicimages of connection interfaces of respective vehicle-platform- andVCM-portions of the multi-interface connection-element 50 of FIG. 2 .

As seen, multi-interface connection-element 50 includes avehicle-platform-portion 52 a connectable to a reference frame of avehicle platform, such as reference frame 12 of FIG. 1 , and a VCMportion 52 b connectable to a sub-frame of a VCM, such as sub-frame 22of FIG. 1 . Vehicle-platform-portion 52 a and VCM-portion 52 b arereversibly connectable to each other, for example by insertion ofalignment pins 54 extending from one of the portions into correspondingbores 56 in the other portion. Each of portions 52 a and 52 b includes aplurality of connection interfaces, such that the two pluralities ofconnection interfaces correspond to one another.

For example, in the illustrated embodiment, vehicle-platform-portion 52a includes a pair of high voltage connectors 60 a, two pairs of 12Vbattery connectors 62 a, two pairs of 48V battery connectors 64 a, avehicle Controller Area Network (CAN) bus connector 66 a, and a pair ofcoolant flow connectors 68 a. VCM-portion 52 b includes correspondinghigh voltage connectors 60 b, 12V battery connectors 62 b, 48V batteryconnectors 64 b, vehicle CAN bus connector 66 b, and coolant flowconnectors 68 b. In some embodiments, the connection interfaces of theportions of multi-interface connection-element 50 may include connectioninterfaces connected to any one or more of:

-   -   a power supply mounted on the vehicle platform;    -   a control-circuit mounted on the vehicle platform;    -   a computerized controller mounted on the vehicle platform;    -   a network bus mounted on the vehicle platform;    -   a network interface mounted on the vehicle platform;    -   a coolant flow subsystem mounted on the vehicle platform;    -   an oil flow subsystem mounted on the vehicle platform; and    -   a brake-fluid flow subsystem mounted on the vehicle platform.

Mechanical connection of vehicle-platform-portion 52 a and VCM-portion52 b of multi-interface connection-element 50 results in connection ofcorresponding connection interfaces within the two portions. Theconnection interfaces of vehicle-platform-portion 52 a are connected tovarious vehicle platform subsystems mounted onto the reference frame,such as subsystems 16 and 18 of FIG. 1 . The connection interfaces ofVCM-portion 52 b are connected to various subsystems mounted onto thesub-frame of the VCM, such as subsystems 30, 32, 34, 36, and 38 of FIG.1 . As such, connection of the two portions of multi-interfaceconnection-element 50 result in functional connection between the VCMsubsystems and the vehicle subsystems. For example, connection to avehicle power subsystem can be used to provide power to one or more ofthe VCM subsystems. As another example, connection to a coolant flowsubsystem can be used to cool a motor mounted onto the VCM as part ofdrive subsystem 30 of FIG. 1 , and connection to a brake-fluid flowsubsystem can be used by braking subsystem 36 of FIG. 1 .

Reference is now made to FIGS. 4 and 5 , which are, respectively, aperspective view illustration of VCM-portion 52 b of multi-interfaceconnection-element 50 similar to that shown in FIG. 2 , includingconnection to various subsystems mounted onto the reference frame of thevehicle platform, and of VCM-portion 52 b mounted onto a VCM 70, similarto VCM 20 of FIG. 1 . It will be appreciated that the specificconnections included in the connection interfaces of the two portions ofa multi-interface connection-element, and the arrangement of thoseconnection interfaces within each portion, may differ in differentimplementations of the multi-interface connection-element, in accordancewith the requirements of a specific vehicle, vehicle platform, VCM, orimplementation.

As seen, coolant flow connectors 68 b are connected to pipes 72, whichare connected to a cooling subsystem 74 of VCM 70, shown clearly in FIG.5 . The cooling subsystem 74 may form part of, or be functionallyassociated with, the drive subsystem of VCM 70, which also includes adrive shaft 76, a motor 78, and a motor inverter. VCM 70 furtherincludes a braking subsystem including a brake caliper 84 connected towheel-hub assembly 26, and a brake pressure system 86 betweenVCM-portion 52 b and brake caliper 84.

According to some embodiment, engaging VCM-portion 52 b withvehicle-platform-portion 52 a is by moving one or more of portions 52a/52 b toward each other until being in a connection state. In someembodiments, one of portions 52 a/52 b is movable and the other isstationary. As shown in the example embodiment of FIGS. 4-5 ,VCM-portion 52 b is movable and is actuated to connect withvehicle-platform-portion 52 a by a mechanical mechanism that extendsbetween a back portion of VCM and a front portion of VCM 70. Themechanical mechanism allows the movement of VCM-portion 52 b between aconnected state and a disengaged state with vehicle-platform-portion 52a while the actuation of this movement is remote of the location ofVCM-portion 52 b (e.g. from the front side of VCM 70, while VCM-portion52 b is on the back side). This allows the installation and connectionof all VCM 70 subsystems and sub-frame with the vehicle platform, allfrom the front side of VCM 70.

According to some embodiments, the mechanical mechanism includes aconnector fastener 88 connected to VCM-portion 52 b by connector cable89 adapter to transfer movement actuation forces from fastener 88 toVCM-portion 52 b. In some embodiments actuation forces are transmittedbetween fastener 88 and VCM-portion 52 b using fluid (e.g. pneumatic,hydraulic) and connector cable 89 is substituted by a tube filled withsuch fluid. In some embodiments fastener 88 is based on bolt screwedinto a bore in sub-frame 22. In some embodiments, fastener 88 is a leverapplying forces on cable 89.

In some embodiments, VCM-portion 52 b, or a connection thereof tosub-frame 22, may include one or more springs 92, shown clearly in FIG.4 . Springs 92 are adapted to force VCM-portion 52 b towardvehicle-platform-portion 52 a, or vice versa, to assist in formingand/or maintaining an operational connection therebetween, andparticularly between connection interfaces thereof.

In some embodiments, actuation of VCM-portion 52 b is by an electricalmotor. In some embodiments, the control of the mechanical or electricalactuation of VCM-portion 52 b is by a remove controller and not by amechanical fastening.

Reference is now made to FIG. 6 , which is a schematic top-view diagramof a VCM 120 installed onto a reference frame 112 (shown partially) of avehicle platform 110, according to an embodiment of the disclosedtechnology. In the embodiment of FIG. 6 , reference frame 112 includes,as VCM-connection interface, a bar 114 extending outwardly fromreference frame 112. In some embodiments, bar 114 extends from referenceframe 112 to a bumper 119 of the vehicle platform. Bar 114 may have acircular cross-section, a polygonal cross-section, or any other suitablecross-section.

VCM 120 includes a sub-frame 122 having a wheel-hub assembly 126connectable to a wheel 128. Sub-frame 122 includes, asvehicle-connection interface, a clamp 124 having a clamping surfaceadapted to be clamped onto, or about, bar 114. A cross-section of theclamping surface of clamp 124 typically corresponds in shape to thecross section of bar 114. In some embodiments, clamp 124 may be securedto bar 114 by bolts or fasteners. In other embodiments, clamp 124 mayinclude two portions, which may be secured to each other, or tightened,by bolts or fasteners.

Reference is now additionally made to FIGS. 7A, 7B, and 7C, which areschematic top-view diagrams of steps of installation of VCM 120 of FIG.6 onto reference-frame 112, according to one installation method.

As seen in FIGS. 7A to 7C, bar 114 extends between reference frame 112and bumper 119, which may be attached to bar 114 prior to installationof the VCM. VCM 120 is aligned with bar 114, as shown in FIG. 7A, suchthat a height of clamp 124 is substantially equal to a height of bar114. VCM 120 is then moved in a horizontal plane, substantially withoutchanging the height of clamp 124, and in a lateral direction 127,perpendicular (or substantially perpendicular) to a longitudinal axis113 of reference frame 112, until clamp 124 engages bar 114, as shown inFIG. 7B. Clamp 124 is then secured to bar 114 by a suitable securingmechanism, such as clamp closure 125, in FIG. 7C. It is appreciated thatalthough FIGS. 7A to 7C illustrate attachment of VCM 120 to a frontportion of reference frame 112, the VCM may be similarly attached to arear portion of the reference frame.

It is appreciated that, in the embodiment of FIGS. 7A to 7C, bumper 119may be omitted from vehicle platform 110. In such embodiments, VCM 120would be connected to bar 114 and clamped thereto, as described herein.In some embodiments, bumper 119 is secured to VCM 120 after the VCM issecured to reference frame 112.

Turning now to FIGS. 8A, 8B, and 8C, these are schematic top-viewdiagrams of steps of installation of VCM 120 of FIG. 6 ontoreference-frame 112, according to another installation method. As seen,in the embodiment of FIGS. 8A to 8C, bar 114 extends from referenceframe 112, but bumper 119 is not yet attached to the bar or to thereference frame.

In FIG. 8A, VCM 120 is aligned with bar 114, such that a height of clamp124 is substantially equal to a height of bar 114, and clamp 124 isaligned with an end of bar 114. VCM 120 is then moved in a horizontalplane, substantially without changing the height of clamp 124, and in alongitudinal direction 129 parallel to longitudinal axis 113 ofreference frame 112, until clamping surface of clamp 124 is positionedon bar 114, as shown in FIG. 8B. Clamp 124 is then secured to bar 114 bya suitable securing mechanism, such as clamp closure 125, in FIG. 8C. Insome embodiments, bumper 119 may be mounted onto the end of bar 114,following installation of VCM 120 and clamping of clamp 124. Suchinstallation of bumper 119 may further reinforce the attachment of VCM120 to reference frame 112, and secure VCM 120 to reference frame 112.However, the method of FIGS. 8A to 8C is equally applicable when nobumper is used, simply by ensuring that the clamping of the VCM to thereference frame is secure.

It is appreciated that although FIGS. 8A to 8C illustrate attachment ofVCM 120 to a front portion of reference frame 112, the VCM may besimilarly attached to a rear portion of the reference frame.

In some embodiments, the opening of clamp 124 may be slightly larger indiameter, or in at least one cross-section, from a cross sectionaldimension of bar 114. In such embodiments, the connection of the VCM 120to reference frame 112 is adjustable, for example to control or adjustany one of the caster angle of the wheel, the camber angle of the wheel,and the toe angle of the wheel. A circular cross-section of the barand/or clamping surface of clamp 124 may allow a rotational motion toadjust the camber angle. A polygonal cross-section of the bar and/orclamping surface of clamp 124 may allow adjusting of the camber withinpre-defined set of angles. Adjusting of a toe and/or caster may bepossible by fitting clamp 124 with respect to bar 114 (e.g. when havingsome gap and degree of freedom between the surfaces of both).

Reference is now made to FIG. 9 , which is a perspective viewillustration of a portion of a VCM 120 suitable for connection toreference-frame 112 of vehicle platform 110 in accordance with themethods of FIGS. 7A to 8C, and to FIGS. 10A and 10B, which areperspective view illustrations of VCM 120 including the portion of FIG.9 .

As seen in FIG. 9 , a sub-frame 122 of a VCM 120 includes a plurality ofconnection points 140 connected to a portion 142. Sub-frame 122 includesa semi-circular opening portion 144 forming a first half of clampconnector 124.

As seen in FIGS. 10A and 10B, VCM 120 further includes wheel-hubassembly 126 having mounted thereon wheel 128. Sub-frame 122 includes,in addition to portions 142 and 144 shown in FIG. 9 , a correspondingclamp connector portion 146 including a second semi-circular surface148, which, together with opening portion 144, forms clamp 124. Clamp124 is disposed on a side of sub-frame 122, and is easily accessible forconnection to a corresponding VCM-connection interface 114 of thevehicle platform.

As seen clearly in FIG. 10B, suspension assembly 134 extends betweensub-frame 122 and wheel-hub assembly 126. More specifically, suspensionassembly 134 extends between clamp 114, which forms thevehicle-connection assembly of sub-frame 122, and wheel-hub assembly126.

Reference is now additionally made to FIGS. 11A, 11B, 11C, and 11D,which are perspective view illustrations of steps of installing VCMs asshown in FIGS. 10A and 10B onto a reference frame 112 of a vehicleplatform. FIGS. 11A and 11B are steps of connecting a first VCM 120 a tothe reference frame 112, and FIGS. 11C and 11D are steps of connecting asecond VCM 120 b to the reference frame, opposite the first VCM 120 a.

As seen in FIG. 11A, reference frame 112 includes a first bar 114 aextending outwardly therefrom, toward a bumper 119. In the illustratedembodiment, bar 114 a does not span the entire length between thereference frame and the bumper, and is a relatively short bar. Turningto FIG. 11B, it is seen that VCM 120 a is placed onto bar 114 a, suchthat clamp 124 of the VCM is engaged with the bar and is securedthereto, and a portion of bar 114 a is exposed behind sub-frame 122. Theconfiguration shown in FIG. 11B is typically prior to installation ofthe opposing clamp portion clamp 124, and to closure of the clamp withthe clamp closure 125 (FIG. 6 ). Typically, VCM 120 a may be installedusing the method of FIGS. 7A-7C, or the method of FIGS. 8A-8C, or acombination thereof. However, regardless of the method used, the firststep of installation of the VCM 120 a is to align the clamp 124 at theheight of bar 114 a, and then move the VCM while maintaining the heightalignment of the clamp 124.

Similarly, as seen in FIG. 11C, reference frame 112 includes a secondbar 114 b extending outwardly therefrom, toward a bumper 119,substantially parallel to bar 114 a. In the illustrated embodiment, bar114 b does not span the entire length between the reference frame andthe bumper, and is a relatively short bar. Turning to FIG. 11D, it isseen that VCM 120 b is placed onto bar 114 b, substantially as describedhereinabove with respect to FIGS. 11A and 11B.

Reference is now made to FIG. 12 , which is a perspective viewillustration of a sub-frame 222 of a VCM 220 and a reference frame 212of a vehicle platform 210, prior to installation of the VCM. Referenceis further made to FIGS. 13A and 13B, which are perspective viewillustrations of sub-frame 222 and reference-frame 212 of FIG. 12 , whenconnected to each other.

As seen in the example embodiment of FIGS. 12-13B, reference-frame 212includes an upper surface 212 a and a lower surface 212 b. AVCM-connection interface 214 of reference-frame 212 is disposed betweenthe upper and lower surfaces of the reference frame, and includes aslanted surface 214 a, a substantially vertical surface 214 b, asubstantially horizontal surface 214 c, and a second substantiallyvertical surface 214 d. The VCM-connection interface 214 may, in someembodiments, terminate in a leaf 214 e suitable for snap fit engagementof the sub-frame, as explained herein. Reference frame 212 additionallyincludes a plurality of bores, adapted to receive fasteners 229, asexplained herein.

Sub-frame 222 includes a first portion 222 a which is adapted to bealigned with, and to fit between, the upper and lower surfaces of thereference frame 212. Vehicle-connection interface 224 of sub-frame 222is included within the first portion. In some embodiments, sub-frame 222includes a second portion 222 b adapted to extend above the uppersurface 212 a of the reference frame, and may be connected to otherportions of the vehicle, as explained in further detail hereinbelow.Vehicle-connection interface 224 of sub-frame 222 includes surfacescorresponding to surfaces of VCM-connection interface 214 of thereference frame. As shown in the example embodiment of FIGS. 12-13B,vehicle-connection interface 224 includes a slanted surface 224 a, asubstantially vertical surface 224 b, a substantially horizontal surface224 c, and a second substantially vertical surface 224 d.Vehicle-connection interface 224 may, in some embodiments, terminate ina substantially horizontal protrusion 224 e adapted for snap fitengagement with leaf 214 e, as explained herein. First portion 222 a ofsub-frame 222 further includes a plurality of bores 225, adapted to bealigned with bores 215 of reference frame 212, and to receive fasteners229 therein for connection of reference-frame 212 and sub-frame 222, asexplained herein.

As seen in FIGS. 13A and 13B, sub-frame 222 is connected to referenceframe 212 by aligning surfaces of vehicle-connection interface 224 withcorresponding surfaces of VCM-connection interface 214, and then movingsub-frame 224 laterally in a direction 227, without changing the heightof vehicle-connection interface 224, until surfaces 214 a, 214 b, 214 c,and 214 d engage corresponding surfaces 224 a, 224 b, 224 c, and 224 d,respectively. In some embodiments, in this orientation, leaf 214 e is insnap-fit engagement with protrusion 224 e. At this stage, bores 215 and225 are aligned, and fasteners 229 are inserted into aligned bores 215and 225, thereby to reinforce the connection of reference-frame 212 andsub-frame 222.

It is a particular feature of the embodiment of FIGS. 12 to 13B, thatthe vehicle-connection interface of sub-frame 222 is disposed entirelybetween the upper and lower surfaces of reference frame 212, such thatat least some subsystems mounted onto sub-frame 222 may be disposedwithin the reference frame, as explained in further detail hereinbelow.

Reference is now additionally made to FIGS. 14A and 14B, which are,respectively, a perspective view illustration and a side view planarillustration of VCM 220 including sub-frame 222 of FIGS. 12 to 13B, andincluding subsystems thereof, where in FIG. 14B sub-frame 222 isinstalled on reference-frame 212. As seen, VCM 220 includes a wheel-hubassembly 226, a drive subsystem 230, including a drive-shaft 240 and amotor 241. A suspension subsystem 234 is mounted onto sub-frame 222 andextends toward wheel-hub assembly 226.

A steering subsystem 232, includes a steering rod 244 (shown in FIG.14B) disposed between sub-frame 212 and wheel-hub assembly 226, and asteering actuator 246 (shown in FIG. 14A) disposed within referenceframe 212, when sub-frame 222 and reference frame 212 are connected. Insome embodiments, a braking subsystem is also attached to sub-frame 222and disposed within reference frame 212, when the sub-frame andreference frame are connected.

A VCM-portion 252 b of a multi-interface connection-element 50 (FIG. 2 )is mounted onto sub-frame 222 whether directly or by being mounted ontoanother subsystem mounted onto the sub-frame. When connecting VCM 220 toreference-frame 212, VCM portion 252 b is adapted to be connected to acorresponding portion of the multi-interface connection-element (notexplicitly shown), as described hereinabove with respect to FIGS. 2 to 5.

Reference is now additionally made to FIG. 15 , which is a partialperspective view of an additional connection of sub-frame 222 of VCM 220to a portion of reference frame 212 of vehicle platform 210. As seen, inthe illustrated embodiment, reference frame 212 further includes atop-hat construction 217, adapted to envelop wheel 228, when VCM 220 isconnected reference frame 212. In the illustrated embodiment, secondportion 222 b of sub-frame 222 includes a plurality of bores 225 b, andtop-hat construction 217 includes a plurality of bores 215 b. When bores215 b and 225 b are aligned, fasteners or bolts 229 b are inserted intothe aligned bores, thereby connecting second portion 222 b of sub-frame222 to top-hat construction 217.

FIGS. 16A and 16B are photographs of VCM 220, prior to installationthereof on reference frame 212, and FIGS. 17A, 17B, 17C, and 17D arephotographs of VCM 220 following installation thereof on reference frame212. Reference numerals used in FIGS. 16A to 17D correspond to thosedescribed hereinabove with respect to FIGS. 12 to 15 .

Reference is now made to FIG. 18 , which is a perspective viewillustration of a VCM 320 according to another embodiment of thedisclosed technology, the VCM having some portions removed therefrom.Reference is further made to FIGS. 19A, 19B, and 19C, which are,respectively, two perspective view illustrations and a front view planarillustration of VCM 320. In the context of the following description,the ‘front’ of the VCM is the portion thereof on which the wheel ismounted, and the ‘back’ of the VCM is the portion thereof distal to thewheel.

As seen in FIGS. 18 to 19C, VCM 320 includes sub-frame 322, having aplurality of fasteners or bolts 324 extending therefrom, the fastenersforming the vehicle-connection interface of VCM 320. VCM 320 includes awheel-hub assembly 326, illustrated with wheel 328 mounted thereon. Asseen clearly in FIG. 18 , all the fasteners 324 and corresponding bores314 in which they are received (FIG. 20 ), as described herein, arewithin a cylindrical footprint of wheel 328, and as such the entirevehicle-connection interface of VCM 320 is within the cylindricalfootprint of the wheel.

A suspension subsystem 334 is attached to wheel-hub assembly 326 as wellas to sub-frame 322. A braking subassembly 336 is also attached tosub-frame 322, and includes a brake caliper 340 coupled to wheel-hubassembly 326. A drive subassembly 330, which typically includes a motorand a drive-shaft, is attached to a sub-frame 322 and extends between aback portion of VCM 320 and wheel hub assembly 326. In some embodiments,such as that shown in FIG. 18 , VCM 320 may be devoid of a steeringsubassembly.

As seen in FIGS. 19A to 19C, VCM 320 includes a cooling subsystem 346.Cooling subsystem 346 may be used to cool the motor. In someembodiments, cooling subsystem 346 is mounted onto sub-frame 322, near aback portion of VCM 320, here shown as being mounted over, or behind,drive subassembly 330. Cooling subsystem 346 is connected by suitabletubing to coolant connection interfaces of a VCM-portion 352 b of amulti-interface connection-element as described hereinabove with respectto FIGS. 2 to 5 .

As seen in FIG. 18 , in VCM 320, the suspension subsystem 334 and thebraking subsystem 336 are disposed between the sub-frame and thewheel-hub assembly. Additionally, the drive subsystem 330 is disposedsubstantially between the prongs 324 and the wheel. As such, in theembodiment of FIGS. 18 to 19C, the drive, suspension, and brakingsubsystems are all disposed between the wheel hub assembly and thevehicle-connection interface of the VCM.

Reference is now made to FIG. 20 , which is a perspective cut viewillustration of a rear or a front portion of reference-frame 312 adaptedfor connection to VCM 320 of FIGS. 18 to 19C. As seen in FIG. 20 ,either of the rear/front portion of reference frame 312 has an uppersurface 312 a and a lower surface 312 b. Reference frame 312 is dividedinto a central portion 313 a, and a VCM-receiving portion 313 b, whichcan be either a rear or a front portion, optionally terminating in abumper 319. A plurality of bores 314 are formed in side walls ofVCM-receiving portion 313 b, transversely to the upper and lowersurfaces, thereby forming a VCM-connection interface for connection toVCM 320. In some embodiments, at least some of bores 314 may beperpendicular to the upper and/or lower surfaces. In some embodiments,at least some of bores 314 are not perpendicular to the upper and/orlower surfaces, but rather are angled relative to the upper and/or lowersurfaces at an angle suitable to receive the fasteners 324 of sub-frame322.

In some embodiments, fasteners 324 may be replaced by a correspondingplurality of prongs, which are adapted to be received within bores 314and held therein by additional fasteners, not explicitly shown.

For connection of VCM 320 to reference frame 312, VCM 320 is alignedwith VCM-receiving portion 313 b such that fasteners 324 are alignedwith bores 314. VCM 320 is then moved laterally toward reference frame312, without changing the vertical alignment of the VCM, until fasteners324 engage bores 314. In some embodiments, additional fasteners may beused to reinforce the connection of fasteners 324 within bores 314.

In some embodiments, in the attached configuration, some portions of VCM320, such as cooling subsystem 346, may be disposed between the upperand lower surfaces of reference frame 312, for example within hollow315. In some embodiments, a vehicle-platform-portion of themulti-interface connection-element, corresponding to VCM-portion 352 b,may be mounted on reference frame 312, for example on strut or side wall317 connecting the upper and lower surfaces.

Reference is now made to FIGS. 21A and 21B, which are, respectively, aperspective view illustration and a planar back view illustration of aVCM 420 according to yet another embodiment of the disclosed technology.Reference is additionally made to FIG. 22 is a perspective viewillustration of the VCM 420 a similar to VCM 420 of FIGS. 21A and 21B,and having different subsystems and sub-frame structure than VCM 420. Inthe context of the following description, the ‘front’ of the VCM is theportion thereof on which the wheel is mounted, and the ‘back’ of the VCMis the portion thereof distal to the wheel.

As seen in FIGS. 21A and 21B, VCM 420 includes sub-frame 422, having aplurality of fasteners 424 extending therefrom, the fasteners formingthe vehicle-connection interface of VCM 420. In VCM 420, sub-frame 422includes a generally planar lower portion 423 a and an upper portion 423b.

Turning to FIG. 22 , it is seen that VCM 420 a includes a sub-frame 422a, also having a plurality of fasteners 424 extending therefrom, thefasteners forming the vehicle-connection interface of VCM 420 a. In VCM420 a, sub-frame 422 a includes a back portion 425 a and an upperportion 425 b, similar to upper portion 423 a of VCM 423.

It is appreciated that the fasteners 424 of VCMs 420 and 420 a aresubstantially identical in structure, and are located at substantiallythe same distance from one another. As such, VCMs 420 and 420 a have thesame vehicle-connection interface, and may be interchangeably connectedto a reference frame of a vehicle platform.

Each of VCMs 420 and 420 a includes a wheel-hub assembly 426,illustrated with wheel 428 mounted thereon. As seen clearly in FIGS. 21b and 22, all the fasteners 424 are within a cylindrical footprint ofwheel 428, and as such, the entire vehicle-connection interface of eachof VCMs 420 and 420 a is within the cylindrical footprint of the wheel.

A suspension subsystem 434 is attached to wheel-hub assembly 426 as wellas to each of sub-frames 422 and 422 a. A braking subassembly (notexplicitly shown) may also be attached to each of sub-frames 422 and 422a. A steering subassembly 432, which typically includes an actuator 442and a steering rod 444, is attached to each of sub-frames 422 and 422 a.VCMs 420 and 420 a are devoid of a drive subassembly.

As seen in FIGS. 21A and 21B, a VCM-portion 452 b of a multi-interfaceconnection-element which may be similar to the multi-interfaceconnection-element described hereinabove with respect to FIGS. 2 to 5 isconnected to sub-frame 422. Though the VCM-portion 452 b is not shown inVCM 420 a, it is appreciated that VCM 420 a may also be connectableusing a multi-interface connection-element.

As seen in FIG. 22 , in VCMs 420 and 420 a, the suspension subsystem 434and the steering subsystem 432, and in some embodiments, also thebraking subsystem (not explicitly shown), are all disposed betweensub-frame 422 and wheel-hub assembly 426.

Reference is now made to FIG. 23 , which is a perspective cut viewillustration of a rear or a front portion of a vehicle reference-frame412 adapted for connection to VCMs 420 and 420 a of FIGS. 21A to 22 . Asseen in FIG. 23 , either of the rear/front portions of reference frame412 has an upper surface 412 a and a lower surface 412 b. Referenceframe 412 is divided into a central portion 413 a, and a VCM-receivingportion 413 b, which can be either a rear or a front portion, optionallyterminating in a bumper 419. A plurality of bores 414 are formed in sidewalls of VCM-receiving portion 413 b, transversely to the upper andlower surfaces, thereby forming a VCM-connection interface forconnection to VCMs 420 or 420 a. In some embodiments, at least some ofbores 414 may be perpendicular to the upper and/or lower surfaces. Insome embodiments, at least some of bores 414 are not perpendicular tothe upper and/or lower surfaces, but rather are angled relative to theupper and/or lower surfaces at an angle suitable to receive thefasteners 424 of sub-frame 422.

In some embodiments, fasteners 424 may be replaced by a correspondingplurality of prongs, which are adapted to be received within bores 414and held therein by additional fasteners, not explicitly shown.

For connection of VCM 420 or 420 a to reference frame 412, the VCM isaligned with VCM-receiving portion 413 b such that fasteners 424 arealigned with bores 414. The VCM is then moved laterally toward referenceframe 412, without changing the vertical alignment of the VCM, untilfasteners 424 engage, and are inserted into, bores 414. In someembodiments, fasteners may be used to reinforce connection of fasteners424 within bores 414.

In some embodiments, in the attached configuration, some portions of theVCM may be disposed between the upper and lower surfaces of referenceframe 412, for example within hollow 415. In some embodiments, avehicle-platform-portion of the multi-interface connection-element,corresponding to VCM-portion 452 b, may be mounted on reference frame412, for example on a side wall 417 connecting the upper and lowersurfaces.

In some embodiments, a VCM-portion (not shown) of a multi-interfaceconnection-element (FIG. 2 ) may be mounted onto sub-frame 522, and thecorresponding vehicle-platform-portion may be mounted ontovehicle-connection portion 513. In such embodiments, when connecting VCM520 to reference-frame 512, the VCM-portion is adapted to be connectedto the vehicle-platform-portion of the multi-interfaceconnection-element, as described hereinabove with respect to FIGS. 2 to5 .

The present invention can be described by the following aspects:

1. A vehicle corner module (VCM) connectable to a VCM-connectioninterface of a reference-frame of a vehicle platform, for regulatingmotion of a vehicle, the VCM including:

-   -   a sub-frame including a vehicle-connection interface for        reversible mechanical connection of the VCM to the        VCM-connection interface of the reference frame;    -   a wheel-hub assembly including a wheel-hub adapted for mounting        of a wheel thereon; and    -   at least one subsystem of the vehicle, mounted onto the        sub-frame, the at least one subsystem being selected from the        group of subsystems consisting of a drive subsystem, a steering        subsystem, a suspension subsystem, and a braking subsystem,    -   wherein, when a wheel is mounted on the wheel-hub assembly, the        vehicle-connection interface is disposed within a cylindrical        footprint of the wheel, and    -   wherein at least one of the at least one subsystem is        accommodated between the wheel-hub assembly and the        vehicle-connection interface.        2. The VCM of aspect 1, wherein, when the sub-frame is connected        to the reference-frame by engagement of the vehicle-connection        interface with the VCM-connection interface, the        vehicle-connection interface is disposed between the wheel and        the reference-frame.        3. The VCM of aspect 1 or aspect 2, wherein, when the sub-frame        is connected to the reference-frame by engagement of the        vehicle-connection interface with the VCM-connection interface,        the vehicle-connection interface is disposed at a height between        a height of an upper surface of the reference-frame and a height        of a lower surface of the reference-frame.        4. The VCM of any one of aspects 1 to 3, wherein the vehicle        further includes at least one power supply, and wherein the VCM        further includes at least one connector for connection to the at        least one power supply, such that, when the VCM is connected to        the vehicle, the at least one power supply powers the at least        one subsystem.        5. The VCM of any one of aspects 1 to 4, wherein:    -   the at least one subsystem includes at least one of:        -   a subsystem disposed between the wheel-hub assembly and the            vehicle-connection interface; and        -   a subsystem mounted onto a portion of the sub-frame adapted,            when the sub-frame is connected to the reference-frame, to            be disposed within the reference frame, between upper and            lower surfaces of the reference frame.            6. The VCM of any one of aspects 1 to 4, wherein all of the            subsystems in the plurality of subsystems are disposed            between the wheel-hub assembly and the vehicle-connection            interface.            7. The VCM of any one of aspects 1 to 6, wherein connection            of the sub-frame to the reference-frame by engagement of the            vehicle-connection interface with the VCM-connection            interface is carried out when the vehicle-connection            interface of the VCM is disposed at a height of the            reference-frame.            8. The VCM of any one of aspects 1 to 7, wherein the            VCM-connection interface includes a bar extending from the            reference-frame in a direction parallel to a longitudinal            axis of the reference-frame, and the vehicle-connection            interface includes a clamp adapted to be clamped onto the            bar, thereby to connect the VCM to the vehicle.            9. The VCM of aspect 8, wherein clamping of the clamp about            the bar is adapted to be reinforced by at least one            fastener.            10. The VCM of aspect 8 or aspect 9, wherein the clamp is            slidable onto the bar.            11. The VCM of any one of aspects 8 to 10, wherein the bar            extends between the reference frame and a bumper of the            vehicle platform.            12. The VCM of aspect 11, wherein the clamp is mounted onto            the bar prior to installation of the bumper, such that            installation of the bumper reinforces the connection of the            VCM to the vehicle platform.            13. The VCM of any one of aspects 1 to 12, wherein the            sub-frame is adapted for attachment to a flat            reference-frame which is devoid of raised connection            portions disposed above an upper surface of the            reference-frame or below a lower surface of the            reference-frame.            14. The VCM of any one of aspects 1 to 13, wherein the            sub-frame includes a second connection interface, adapted            for connection to a vehicle assembly coupled to the            reference-frame.            15. The VCM of aspect 14, wherein the vehicle assembly            includes a top-hat frame of the vehicle, which is adapted to            envelop the wheel.            16. The VCM of any one of aspects 1 to 15, wherein the            vehicle-connection interface includes a plurality of            fasteners adapted for fastening the VCM to corresponding            bores forming part of the VCM-connection interface of the            reference-frame.            17. The VCM of any one of aspects 1 to 16, wherein the            vehicle-connection interface is adapted for snap-fit            engagement with the VCM-connection interface of the            reference-frame.            18. The VCM of any one of aspects 1 to 17, wherein the at            least one subsystem includes a suspension subsystem,            disposed between the wheel-hub assembly and the            vehicle-connection interface.            19. The VCM of any one of aspects 1 to 18, wherein the VCM            is devoid of a steering subsystem, and includes a drive            subsystem.            20. The VCM of any one of aspects 1 to 18, wherein the VCM            is devoid of a drive subsystem, and includes a steering            subsystem.            21. The VCM of any one of aspects 1 to 20, wherein at least            one of camber, caster, and toe angle of the wheel is            adjustable by making adjustments to the engagement between            the vehicle-connection interface and the VCM-connection            interface, when the VCM is connected to the vehicle            platform.            22. The VCM of any one of aspects 1 to 21, further including            a VCM-portion of a multi-interface connection-element,            mounted onto the sub-frame and adapted for connection to a            vehicle-platform-portion of the multi-interface            connection-element, the vehicle-platform-portion being            mounted onto the reference-frame of the vehicle platform and            connected to multiple electronic or flow subsystems of the            vehicle,    -   wherein the VCM-portion of the multi-interface        connection-element includes multiple connection interfaces for        connection of the VCM-portion to the vehicle-platform-portion,        thereby to connect the VCM to each of the multiple electronic        subsystems of the vehicle, and    -   wherein each of the multiple electronic or flow subsystems is        selected from the group consisting of a power supply of the        vehicle, a control-circuit of the vehicle, a computerized        controller of the vehicle, a network bus of the vehicle, a        network interface of the vehicle, a coolant flow subsystem of        the vehicle, an oil flow subsystem of the vehicle, and a        brake-fluid flow subsystem of the vehicle.        23. A vehicle corner module (VCM) connectable to a        VCM-connection interface of a reference-frame of a vehicle        platform, for regulating motion of a vehicle, the VCM including:    -   a sub-frame including a vehicle-connection interface for        reversible mechanical connection of the VCM to the        VCM-connection interface of the reference frame;    -   a wheel-hub assembly including a wheel-hub adapted for mounting        of a wheel thereon; and    -   at least one subsystem of the vehicle, mounted onto the        sub-frame, the at least one subsystem being selected from the        group of subsystems consisting of a drive subsystem, a steering        subsystem, a suspension subsystem, and a braking subsystem,    -   wherein, when a wheel is mounted on the wheel-hub assembly, the        vehicle-connection interface is disposed within a cylindrical        footprint of the wheel, and    -   wherein, when the sub-frame is connected to the reference-frame        by engagement of the vehicle-connection interface with the        VCM-connection interface, the vehicle-connection interface is        disposed at a height between a height of an upper surface of the        reference-frame and a height of a lower surface of the        reference-frame.        24. The VCM of aspect 23, wherein at least one of the at least        one subsystem is accommodated between the wheel-hub assembly and        the vehicle-connection interface.        25. The VCM of aspect 23 or aspect 24, wherein, when the        sub-frame is connected to the reference-frame by engagement of        the vehicle-connection interface with the VCM-connection        interface, the vehicle-connection interface is disposed between        the wheel and the reference-frame.        26. The VCM of any one of aspects 23 to 25, wherein the vehicle        further includes at least one power supply, and wherein the VCM        further includes at least one connector for connection to the at        least one power supply, such that, when the VCM is connected to        the vehicle, the at least one power supply powers the at least        one subsystem.        27. The VCM of any one of aspects 23 to 26, wherein:    -   the at least one subsystem includes at least one of:        -   a subsystem disposed between the wheel-hub assembly and the            vehicle-connection interface; and        -   a subsystem mounted onto a portion of the sub-frame adapted,            when the sub-frame is connected to the reference-frame, to            be disposed within the reference frame, between upper and            lower surfaces of the reference frame.            28. The VCM of any one of aspects 23 to 26, wherein all of            the subsystems in the plurality of subsystems are disposed            between the wheel-hub assembly and the vehicle-connection            interface.            29. The VCM of any one of aspects 23 to 28, wherein            connection of the sub-frame to the reference-frame by            engagement of the vehicle-connection interface with the            VCM-connection interface is carried out when the            vehicle-connection interface of the VCM is disposed at a            height of the reference-frame.            30. The VCM of any one of aspects 23 to 29, wherein the            VCM-connection interface includes a bar extending from the            reference-frame in a direction parallel to a longitudinal            axis of the reference-frame, and the vehicle-connection            interface includes a clamp adapted to be clamped onto the            bar, thereby to connect the VCM to the vehicle.            31. The VCM of aspect 30, wherein clamping of the clamp            about the bar is adapted to be reinforced by at least one            fastener.            32. The VCM of aspect 30 or aspect 31, wherein the clamp is            slidable onto the bar.            33. The VCM of any one of aspects 30 to 32, wherein the bar            extends between the reference frame and a bumper of the            vehicle platform.            34. The VCM of aspect 33, wherein the clamp is slidable onto            the bar prior to installation of the bumper, such that            installation of the bumper reinforces the connection of the            VCM to the vehicle platform.            35. The VCM of any one of aspects 23 to 34, wherein the            sub-frame is adapted for attachment to a flat            reference-frame which is devoid of raised connection            portions disposed above an upper surface of the reference            frame or below a lower surface of the reference frame.            36. The VCM of any one of aspects 23 to 35, wherein the            sub-frame includes a second connection interface, adapted            for connection to a vehicle assembly coupled to the            reference frame.            37. The VCM of aspect 36, wherein the vehicle assembly            includes a top-hat frame of the vehicle, which is adapted to            envelop the wheel.            38. The VCM of any one of aspects 23 to 37, wherein the            vehicle-connection interface includes a plurality of            fasteners adapted for fastening the VCM to corresponding            bores forming part of the VCM-connection interface of the            reference-frame.            39. The VCM of any one of aspects 23 to 38, wherein the            vehicle-connection interface is adapted for snap-fit            engagement with the VCM-connection interface of the            reference-frame.            40. The VCM of any one of aspects 23 to 39, wherein the at            least one subsystem includes a suspension subsystem,            disposed between the wheel-hub assembly and the            vehicle-connection interface.            41. The VCM of any one of aspects 23 to 40, wherein the VCM            is devoid of a steering subsystem, and includes a drive            subsystem.            42. The VCM of any one of aspects 23 to 40, wherein the VCM            is devoid of a drive subsystem, and includes a steering            subsystem.            43. The VCM of any one of aspects 23 to 42, wherein at least            one of camber, caster, and toe angle of the wheel is            adjustable by making adjustments to the engagement between            the vehicle-connection interface and the VCM-connection            interface, when the VCM is connected to the vehicle            platform.            44. The VCM of any one of aspects 23 to 43, further            including a VCM-portion of a multi-interface            connection-element, mounted onto the sub-frame and adapted            for connection to a vehicle-platform-portion of the            multi-interface connection-element, the            vehicle-platform-portion being mounted onto the            reference-frame of the vehicle platform and connected to            multiple electronic or flow subsystems of the vehicle,    -   wherein the VCM-portion of the multi-interface        connection-element includes multiple connection interfaces for        connection of the VCM-portion to the vehicle-platform-portion,        thereby to connect the VCM to each of the multiple electronic        subsystems of the vehicle, and    -   wherein each of the multiple electronic or flow subsystems is        selected from the group consisting of a power supply of the        vehicle, a control-circuit of the vehicle, a computerized        controller of the vehicle, a network bus of the vehicle, a        network interface of the vehicle, a coolant flow subsystem of        the vehicle, an oil flow subsystem of the vehicle, and a        brake-fluid flow subsystem of the vehicle.        45. A vehicle platform of a vehicle, adapted for connection to        at least one Vehicle Corner Module (VCM) adapted to regulate        motion of the vehicle, the vehicle platform including a        reference frame including:    -   an upper surface and a lower surface; and    -   at least one bar, forming a VCM-connection interface adapted to        have a clamp of the VCM mounted thereon for reversible        mechanical connection of the VCM to the reference frame.        46. The vehicle platform of aspect 45, wherein the bar is sized        and configured for slidable mounting of the VCM thereonto.        47. The vehicle platform of aspect 45 or aspect 46, further        including at least one bumper, mounted onto the reference frame,        distal to the bar.        48. The vehicle platform of aspect 47, wherein the bar engages        both the reference frame and the bumper.        49. The vehicle platform of aspect 47, wherein the bar engages        the reference frame and extends from the reference frame towards        the bumper, without engaging the bumper.        50. The vehicle platform of any one of aspects 45 to 49, further        including a vehicle-platform-portion of a multi-interface        connection-element, mounted onto the reference frame and        connected to multiple electronic or flow subsystems of the        vehicle, the vehicle-platform-portion being adapted for        connection to a VCM-portion of the multi-interface        connection-element, the VCM-portion being mounted onto a        sub-frame of the VCM,    -   wherein the vehicle-platform-portion of the multi-interface        connection-element includes multiple connection interfaces for        connection of the vehicle-platform-portion to the VCM-portion,        thereby to connect the VCM to each of the multiple electronic        subsystems of the vehicle, and    -   wherein each of the multiple electronic or flow subsystems is        selected from the group consisting of a power supply of the        vehicle, a control-circuit of the vehicle, a computerized        controller of the vehicle, a network bus of the vehicle, a        network interface of the vehicle, a coolant flow subsystem of        the vehicle, an oil flow subsystem of the vehicle, and a        brake-fluid flow subsystem of the vehicle.        51. A vehicle including:    -   a vehicle platform including a reference frame having an upper        surface and a lower surface, the reference frame including at        least one VCM-connection interface;    -   at least one vehicle corner module (VCM) connected to a        VCM-connection interface of the reference-frame, the at least        one VCM adapted for regulating motion of the vehicle, the VCM        including:        -   a sub-frame including a vehicle-connection interface            reversibly and mechanically engaging the VCM-connection            interface of the reference frame;        -   a wheel-hub assembly including a wheel-hub adapted for            mounting of a wheel thereon; and        -   at least one subsystem of the vehicle, mounted onto the            sub-frame, the at least one subsystem being selected from            the group of subsystems consisting of a drive subsystem, a            steering subsystem, a suspension subsystem, and a braking            subsystem,    -   wherein, when a wheel is mounted on the wheel-hub assembly, the        vehicle-connection interface and the VCM-connection interface        are accommodated within a cylindrical footprint of the wheel.        52. The vehicle of aspect 51, wherein the vehicle-connection        interface of the sub-frame is reversibly and mechanically        connected to the VCM-connection interface of the reference        frame.        53. The vehicle of aspect 51 or aspect 52, wherein the        vehicle-connection interface and the VCM-connection interface        are disposed at a height between a height of the upper surface        of the reference-frame and a height of the lower surface of the        reference-frame.        54. The vehicle of any one of aspects 51 to 53, wherein at least        one of the at least one subsystem is accommodated between the        wheel-hub assembly and the vehicle-connection interface.        55. The vehicle of any one of aspects 51 to 54, wherein the        vehicle-connection interface is disposed between the wheel and        the reference-frame.        56. The vehicle of any one of aspects 51 to 55, further        including at least one power supply, the VCM being connected to        the at least one power supply such that the at least one power        supply powers the at least one subsystem.        57. The vehicle of any one of aspects 51 to 56, wherein:    -   the at least one subsystem includes at least one of:        -   a subsystem disposed between the wheel-hub assembly and the            vehicle-connection interface; and        -   a subsystem mounted onto a portion of the sub-frame disposed            within the reference frame, between upper and lower surfaces            of the reference frame.            58. The vehicle of any one of aspects 51 to 56, wherein all            of the subsystems in the plurality of subsystems are            disposed between the wheel-hub assembly and the            vehicle-connection interface.            59. The vehicle of any one of aspects 51 to 58, the            sub-frame is connected to the reference-frame when the            vehicle-connection interface of the VCM is disposed at a            height of the reference-frame.            60. The vehicle of any one of aspects 51 to 59, wherein the            VCM-connection interface includes a bar extending from the            reference-frame in a direction parallel to a longitudinal            axis of the reference-frame, and the vehicle-connection            interface includes a clamp clamped onto the bar, thereby            connecting the VCM to the reference-frame.            61. The vehicle of aspect 60, wherein clamping of the clamp            about the bar is adapted to be reinforced by at least one            fastener.            62. The vehicle of aspect 60 or aspect 61, wherein the clamp            is slidable onto the bar.            63. The vehicle of any one of aspects 60 to 62, wherein the            vehicle platform further includes a bumper, and the bar            extends between the reference frame and the bumper.            64. The vehicle of aspect 63, wherein the clamp is slidable            onto the bar prior to installation of the bumper, such that            installation of the bumper reinforces the connection of the            VCM to the vehicle platform.            65. The vehicle of any one of aspects 51 to 64, wherein the            reference-frame is flat and is devoid of raised connection            portions disposed above an upper surface of the reference            frame or below a lower surface of the reference frame.            66. The vehicle of any one of aspects 51 to 65, wherein:    -   the vehicle platform includes a vehicle assembly coupled to the        reference frame; and    -   the sub-frame includes a second connection interface, connected        to the vehicle assembly.        67. The vehicle of aspect 66, wherein the vehicle assembly        includes a top-hat frame enveloping the wheel.        68. The vehicle of any one of aspects 51 to 67, wherein the        vehicle-connection interface includes a plurality of fasteners        fastening the VCM to corresponding bores forming part of the        VCM-connection interface of the reference-frame.        69. The vehicle of any one of aspects 51 to 68, wherein the        vehicle-connection interface engages the VCM-connection        interface of the reference-frame by snap-fit engagement.        70. The vehicle of any one of aspects 51 to 69, wherein the at        least one subsystem includes a suspension subsystem, disposed        between the wheel-hub assembly and the vehicle-connection        interface.        71. The vehicle of any one of aspects 51 to 70, wherein the VCM        is devoid of a steering subsystem, and includes a drive        subsystem.        72. The vehicle of any one of aspects 51 to 70, wherein the VCM        is devoid of a drive subsystem, and includes a steering        subsystem.        73. The vehicle of any one of aspects 51 to 72, wherein at least        one of camber, caster, and toe angle of the wheel is adjustable        by adjusting the engagement between the vehicle-connection        interface and the VCM-connection interface.        74. The vehicle of any one of aspects 51 to 73, further        including:    -   multiple electronic or flow subsystems, each selected from the        subsystem group consisting of a power supply, a control-circuit,        a computerized controller, a network bus, a network interface, a        coolant flow subsystem, an oil flow subsystem, and a brake fluid        flow subsystem; and    -   a multi-interface connection-element including a VCM-portion        mounted onto the sub-frame, reversibly connected to a        corresponding vehicle-platform-portion mounted onto the        reference-frame and connected to the multiple electronic or flow        subsystems, each of the VCM-portion and the        vehicle-platform-portion including multiple connection        interfaces for connection to the other of the VCM-portion and        the vehicle-platform-portion,    -   wherein, connection of the VCM-portion to the        vehicle-platform-portion of the multi-interface        connection-element result in connection of the VCM to the        multiple electronic or flow subsystems.        75. The vehicle of aspect 74, wherein for each electronic or        flow subsystem of the multiple electronic or flow subsystems,        one of the VCM-portion and vehicle-platform-portion of the        multi-interface connection-element includes a port, and the        other of the VCM-portion and vehicle-platform-portion includes a        corresponding plug, which, when the first and second portions        are connected, is received in the port to connect the VCM to the        electronic or flow subsystem.        76. A vehicle corner module (VCM) connectable to a        VCM-connection interface of a reference-frame of a vehicle        platform, the reference-frame having mounted thereon a        vehicle-platform-portion of a multi-interface        connection-element, the vehicle-platform-portion including        multiple connection interfaces, each connected to one of        multiple electronic or flow subsystems of the vehicle, the VCM        including:    -   a sub-frame including a vehicle-connection interface for        reversible mechanical connection of the VCM to the        VCM-connection interface of the reference frame;    -   a wheel-hub assembly including a wheel-hub adapted for mounting        of a wheel thereon;    -   at least one subsystem of the vehicle, mounted onto the        sub-frame, the at least one subsystem being selected from the        group of subsystems consisting of a drive subsystem, a steering        subsystem, a suspension subsystem, and a braking subsystem; and    -   a VCM-portion of the multi-interface connection-element mounted        onto the sub-frame, the VCM-portion being connectable to the        vehicle-platform-portion of the multi-interface        connection-element and including multiple corresponding        connection interfaces for connection to connection interfaces of        the vehicle-platform-portion,    -   wherein, connection of the VCM-portion to the        vehicle-platform-portion of the multi-interface        connection-element results in connection of the VCM to the        multiple electronic or flow subsystems.        77. The VCM of aspect 76, wherein each of the multiple        corresponding connection interfaces is adapted for connection of        the VCM to one of the multiple electronic or flow subsystems,        each of which is selected from the subsystem group consisting of        power supply of the vehicle, a control-circuit of the vehicle, a        computerized controller of the vehicle, a network bus of the        vehicle, a network interface of the vehicle, a coolant flow        subsystem of the vehicle, an oil flow subsystem of the vehicle,        and a brake-fluid flow subsystem of the vehicle.        78. The VCM of aspect 76 or aspect 77, wherein each of the        multiple corresponding connector interfaces of the VCM-portion        includes a plug adapted to be inserted into a port in the        vehicle-platform-portion or a port adapted to receive a plug of        the vehicle-platform-portion.        79. The VCM of any one of aspects 76 to 78, wherein, when a        wheel is mounted on the wheel-hub assembly, the        vehicle-connection interface is disposed within a cylindrical        footprint of the wheel.        80. The VCM of any one of aspects 76 to 79, wherein at least one        of the at least one subsystem is accommodated between the        wheel-hub assembly and the vehicle-connection interface.        81. The VCM of any one of aspects 76 to 80, wherein, when the        sub-frame is connected to the reference-frame by engagement of        the vehicle-connection interface with the VCM-connection        interface, the vehicle-connection interface is disposed between        the wheel and the reference-frame.        82. The VCM of any one of aspects 76 to 81, wherein, when the        sub-frame is connected to the reference-frame by engagement of        the vehicle-connection interface with the VCM-connection        interface, the vehicle-connection interface is disposed at a        height between a height of an upper surface of the        reference-frame and a height of a lower surface of the        reference-frame.        83. The VCM of any one of aspects 76 to 82, wherein the vehicle        further includes at least one power supply, and wherein the VCM        further includes at least one connector for connection to the at        least one power supply, such that, when the VCM is connected to        the vehicle, the at least one power supply powers the at least        one subsystem.        84. The VCM of any one of aspects 76 to 83, wherein:    -   the at least one subsystem includes at least one of:        -   a subsystem disposed between the wheel-hub assembly and the            vehicle-connection interface; and        -   a subsystem mounted onto a portion of the sub-frame adapted,            when the sub-frame is connected to the reference-frame, to            be disposed within the reference frame, between upper and            lower surfaces of the reference frame.            85. The VCM of any one of aspects 76 to 83, wherein all of            the subsystems in the plurality of subsystems are disposed            between the wheel-hub assembly and the vehicle-connection            interface.            86. The VCM of any one of aspects 76 to 85, wherein            connection of the sub-frame to the reference-frame by            engagement of the vehicle-connection interface with the            VCM-connection interface is carried out when the            vehicle-connection interface of the VCM is disposed at a            height of the reference-frame.            87. The VCM of any one of aspects 76 to 86, wherein the            VCM-connection interface includes a bar extending from the            reference-frame in a direction parallel to a longitudinal            axis of the reference-frame, and the vehicle-connection            interface includes a clamp adapted to be clamped onto the            bar, thereby to connect the VCM to the vehicle.            88. The VCM of aspect 87, wherein clamping of the clamp            about the bar is adapted to be reinforced by at least one            fastener.            89. The VCM of aspect 87 or aspect 88, wherein the clamp is            slidable onto the bar.            90. The VCM of any one of aspects 87 to 89, wherein the bar            extends between the reference frame and a bumper of the            vehicle platform.            91. The VCM of any one of aspects 76 to 90, wherein the            sub-frame is adapted for attachment to a flat            reference-frame which is devoid of raised connection            portions disposed above an upper surface of the            reference-frame or below a lower surface of the            reference-frame.            92. The VCM of any one of aspects 76 to 91, wherein the            sub-frame includes a second connection interface, adapted            for connection to a vehicle assembly coupled to the            reference frame.            93. The VCM of aspect 92, wherein the vehicle assembly            includes a top-hat frame of the vehicle, which is adapted to            envelop the wheel.            94. The VCM of any one of aspects 76 to 93, wherein the            vehicle-connection interface includes a plurality of            fasteners adapted for fastening the VCM to corresponding            bores forming part of the VCM-connection interface of the            reference-frame.            95. The VCM of any one of aspects 76 to 94, wherein the            vehicle-connection interface is adapted for snap-fit            engagement with the VCM-connection interface of the            reference-frame.            96. The VCM of any one of aspects 76 to 95, wherein the at            least one subsystem includes a suspension subsystem,            disposed between the wheel-hub assembly and the            vehicle-connection interface.            97. The VCM of any one of aspects 76 to 96, wherein the VCM            is devoid of a steering subsystem, and includes a drive            subsystem.            98. The VCM of any one of aspects 76 to 96, wherein the VCM            is devoid of a drive subsystem, and includes a steering            subsystem.            99. The VCM of any one of aspects 76 to 98, wherein at least            one of camber, caster, and toe angle of the wheel is            adjustable by making adjustments to the engagement between            the vehicle-connection interface and the VCM-connection            interface, when the VCM is connected to the vehicle            platform.            100. A method for installing a Vehicle Corner Module (VCM)            on a vehicle platform of a vehicle, the method including:    -   aligning a vehicle-connection interface of a sub-frame of the        VCM with a reference-frame of the vehicle-platform, such that        the vehicle-connection interface is disposed between upper and        lower surfaces of the reference frame; and    -   without changing the height alignment between the        vehicle-connection interface of the VCM and the reference-frame,        mechanically connect the at least one VCM to the reference-frame        by engagement of the vehicle-connection interface with a        VCM-connection interface of the reference frame.        101. The method of aspect 100, further including connecting the        VCM to multiple electronic or flow subsystems of the vehicle by        connecting a VCM-portion of a multi-interface        connection-element, mounted on the sub-frame, to a        vehicle-platform portion of the multi-interface        connection-element, forming part of the vehicle platform.        102. The method of aspect 101, wherein each of the multiple        electronic and/or flow subsystems is selected from the subsystem        group consisting of a power supply, a control-circuit, a        computerized controller, a network bus, a network interface, a        coolant flow subsystem, an oil flow subsystem, and a brake-fluid        flow subsystem.        103. The method of any one of aspects 100 to 102, wherein the        mechanically connecting includes pushing the VCM laterally, in a        direction perpendicular to a longitudinal axis of the        reference-frame, for the vehicle-connection interface to engage        the VCM-connection interface.        104. The method of any one of aspects 100 to 102, wherein the        mechanically connecting includes pushing the VCM longitudinally,        in a direction parallel to a longitudinal axis of the        reference-frame, for the vehicle-connection interface to engage        the VCM-connection interface.        105. The method of any one of aspects 100 to 104, wherein the        mechanically connecting includes placing fasteners which engage        the vehicle-connection interface and the VCM-connection        interface.        106. The method of any one of aspects 100 to 105, wherein:    -   the VCM-connection interface includes a bar extending from the        reference frame in a direction parallel to a longitudinal axis        of the reference frame,    -   the vehicle-connection interface includes a clamp including an        opening, the clamp adapted to be clamped onto the bar, and    -   the mechanically connecting includes mounting the clamp onto the        bar.        107. The method of aspect 106, wherein the mounting of the clamp        onto the bar includes sliding of the clamp onto the bar.        108. The method of aspect 107, further including connecting at        least one bumper to the reference frame.        109. The method of aspect 108, wherein the connecting of the        bumper occurs after the sliding of the clamp.        110. The method of aspect 108, wherein the connecting of the        bumper occurs prior to the sliding of the clamp.        111. A multi-interface connection-element for connection of        multiple electronic or flow vehicle subsystems of a vehicle to a        Vehicle Corner Module (VCM) mounted onto a reference-frame of a        vehicle platform of the vehicle, the VCM being adapted to        regulate motion of the vehicle, the multi-interface        connection-element including:    -   a vehicle-platform-portion mountable onto the reference frame of        the vehicle, the vehicle-platform-portion including multiple        connection interfaces, each adapted to be associated with one of        the multiple electronic or flow vehicle subsystems;    -   a VCM-portion, mountable onto a sub-frame of the VCM, the        VCM-portion including multiple corresponding connection        interfaces adapted for connection to the multiple connection        interfaces of the vehicle-platform-portion,    -   wherein connection of the connection interfaces of the        vehicle-platform-portion to the multiple corresponding        connection interfaces of the VCM-portion results in connection        of the VCM to the multiple electronic or flow subsystems.        112. The multi-interface connection-element of aspect 111,        wherein each of the multiple electronic or flow subsystems is        selected from the subsystem group consisting of: a power supply        of the vehicle, a control-circuit of the vehicle, a computerized        controller of the vehicle, a network bus of the vehicle, a        network interface of the vehicle, a coolant flow subsystem of        the vehicle, an oil flow subsystem of the vehicle, and a        brake-fluid flow subsystem of the vehicle.        113. The multi-interface connection-element of aspect 111 or        aspect 112, wherein connection of the connection interfaces of        the vehicle-platform-portion to the multiple corresponding        connection interfaces of the VCM-portion results in connection        of at least one VCM-subsystem to at least one of the multiple        electronic or flow subsystems.        114. The multi-interface connection-element of aspect 113,        wherein the at least one VCM-subsystem includes at least one of        a drive subsystem, a steering subsystem, a braking subsystem, a        suspension subsystem, a VCM controller, and a cooling subsystem.        115. The multi-interface connection-element of any one of        aspects 111 to 114, further including a motion actuator        extending between a back portion of the VCM and a front portion        of the VCM, and adapted to actuate motion of the VCM-portion        relative to the vehicle-platform-portion for connection thereof.        116. The multi-interface connection-element of aspect 115,        wherein the motion actuator is disposed at a different portion        of the VCM than the VCM-portion, such that motion of the        VCM-portion can be actuated even when the VCM-portion is        inaccessible.        117. The multi-interface connection-element of aspect 115 or        aspect 116, wherein the motion actuator includes a fastener        connected to the VCM-portion by a connector cable, and wherein        motion of the VCM-portion is actuated by operating the fastener        to transfer movement actuation forces from the fastener to the        VCM-portion.        118. The multi-interface connection-element of aspect 115 or        aspect 116, wherein the motion actuator includes a fastener        connected to the VCM-portion by a fluid-flow conduit, and        wherein motion of the VCM-portion is actuated by transmitting a        fluid through the fluid-flow conduit from the fastener to the        VCM-portion.        119. The multi-interface connection-element of any one of        aspects 115 to 118, wherein the motion actuator includes an        electrical motor, adapted to be remotely operated by a remote        controller.        120. The multi-interface connection-element of any one of        aspects 111 to 119, wherein a connection-assembly connecting the        VCM-portion to a sub-frame of the VCM includes at least one        spring, adapted to apply force on VCM-portion toward the        vehicle-platform-portion.        121. A method of connecting at least one VCM-subsystem mounted        onto a Vehicle Corner Module (VCM) to at least one electronic or        flow subsystem mounted onto a vehicle platform of a vehicle, the        method including connecting a VCM-portion of a multi-interface        connection-element, mounted on a sub-frame of the VCM and        connected to the at least one VCM-subsystem, to a        vehicle-platform-portion of the multi-interface        connection-element forming part of the vehicle platform and        connected to the at least one vehicle-subsystem, thereby to form        a connection between the at least one VCM-subsystem and the at        least one electronic or flow subsystem,    -   wherein each of the VCM-portion and the vehicle-platform-portion        of the multi-interface connection-element includes a plurality        of connection interfaces, each associated with one of a        plurality of electronic or flow subsystems.        122. The method of aspect 121, wherein each of the multiple        electronic and/or flow subsystems is selected from the subsystem        group consisting of a power supply, a control-circuit, a        computerized controller, a network bus, a network interface, a        coolant flow subsystem, an oil flow subsystem, and a brake-fluid        flow subsystem.        123. The method of aspect 121 or aspect 122, wherein the        connecting of the VCM-portion and the vehicle-platform-portion        includes moving the VCM-portion relative to the        vehicle-platform-portion until they are connected.        124. The method of aspect 123, wherein only one of the        VCM-portion and the vehicle-platform-portion is movable, and the        other is stationary.        125. The method of aspect 123 or aspect 124, wherein moving the        VCM-portion relative to the vehicle-platform-portion includes        actuating motion of the VCM-portion by a mechanical mechanism        that extends between a back portion of the VCM and a front        portion of the VCM.        126. The method of aspect 125, wherein the mechanical mechanism        actuating motion of the VCM-portion is remote to the location of        the VCM-portion.        127. The method of aspect 125 or aspect 126, wherein the        mechanical mechanism includes a fastener connected to the        VCM-portion by a connector cable, and wherein the actuating        motion includes operating the connector fastener to transfer        movement actuation forces from the fastener to the VCM-portion.        128. The method of aspect 125 or aspect 126, wherein the        mechanical mechanism includes a fastener connected to the        VCM-portion, and wherein actuating motion includes operating the        fastener to transmit movement actuation forces to the VCM        portion by fluid communication via the conduit.        129. The method of any one of aspects 121 to 124, wherein        actuation of motion of at least one of the VCM-portion and the        vehicle-platform portion is by an electrical motor.        130. The method of aspect 129, wherein the electrical motor is        adapted to be remotely operated by a remote controller.        131. The method of any one of aspects 121 to 130, wherein the        connecting is carried out from a front side of the VCM,        regardless of the positioning of the VCM-connector within the        VCM.

CONCLUDING COMMENT

All references cited herein are incorporated by reference in theirentirety. Citation of a reference does not constitute an admission thatthe reference is prior art.

It is further noted that any of the embodiments described above mayfurther include receiving, sending or storing instructions and/or datathat implement the operations described above in conjunction with thefigures upon a computer readable medium. Generally speaking, a computerreadable medium (e.g. non-transitory medium) may include storage mediaor memory media such as magnetic or flash or optical media, e.g. disk orCD-ROM, volatile or non-volatile media such as RAM, ROM, etc.Having thus described the foregoing exemplary embodiments it will beapparent to those skilled in the art that various equivalents,alterations, modifications, and improvements thereof are possiblewithout departing from the scope and spirit of the claims as hereafterrecited. In particular, different embodiments may include combinationsof features other than those described herein. Accordingly, the claimsare not limited to the foregoing discussion.

What is claimed is:
 1. A method for installing a Vehicle Corner Module(VCM) on a reference frame of a vehicle, the VCM including a sub-framehaving a vehicle-connection interface for reversible mechanicalconnection of the VCM to the VCM-connection interface of the referenceframe; a wheel-hub for mounting of a wheel thereon; and at least onesubsystem of the vehicle, selected from a group of subsystems consistingof a drive subsystem, a steering subsystem, a suspension subsystem, anda braking subsystem, the method comprising: aligning thevehicle-connection interface with the reference-frame, such that thevehicle-connection interface is disposed between upper and lowersurfaces of the reference frame; and without changing the heightalignment between the vehicle-connection interface of the VCM and thereference-frame, mechanically connecting the at least one VCM to thereference-frame by engagement of the vehicle-connection interface with aVCM-connection interface of the reference frame, and, following theengagement, moving the VCM-portion relative to thevehicle-platform-portion until they are connected, wherein moving theVCM-portion relative to the vehicle-platform-portion includes actuatingmotion of the VCM-portion by a mechanical mechanism that extends betweena back portion of the VCM and a front portion of the VCM.
 2. The methodof claim 1, further comprising connecting the VCM to multiple electronicor flow subsystems of the vehicle by connecting a VCM-portion of amulti-interface connection-element, mounted on the sub-frame, to avehicle-platform portion of the multi-interface connection-element,forming part of the reference frame.
 3. The method of claim 1, whereinthe mechanically connecting comprises moving the VCM laterally, in adirection perpendicular to a longitudinal axis of the reference-frame,for the vehicle-connection interface to engage the VCM-connectioninterface.
 4. The method of claim 1, wherein the mechanically connectingincludes moving the VCM longitudinally, in a direction parallel to alongitudinal axis of the reference-frame, for the vehicle-connectioninterface to engage the VCM-connection interface.
 5. The method of claim1, wherein: the VCM-connection interface comprises a bar extending fromthe reference frame in a direction parallel to a longitudinal axis ofthe reference frame, the vehicle-connection interface comprises a clampincluding an opening, the clamp adapted to be clamped onto the bar, andthe mechanically connecting includes mounting the clamp onto the bar. 6.The method of claim 5, wherein the mounting of the clamp onto the barincludes sliding of the clamp onto the bar.
 7. The method of claim 6,further comprising connecting at least one bumper to the referenceframe, wherein the connecting of the bumper occurs after the sliding ofthe clamp.
 8. The method of claim 6, further comprising connecting atleast one bumper to the reference frame, wherein the connecting of thebumper occurs prior to the sliding of the clamp.
 9. The method of claim2, wherein each of the VCM-portion and the vehicle-platform-portion ofthe multi-interface connection-element comprises a plurality ofconnection interfaces, each associated with one of a plurality ofelectronic or flow subsystems.
 10. The method of claim 1, wherein onlyone of the VCM-portion and the vehicle-platform-portion is movable, andthe other is stationary.
 11. The method of claim 1, wherein themechanical mechanism actuating motion of the VCM-portion is remote tothe location of the VCM-portion.
 12. The method of claim 1, wherein themechanical mechanism comprises a fastener connected to the VCM-portionby a connector cable, and wherein the actuating motion comprisesoperating the connector fastener to transfer movement actuation forcesfrom the fastener to the VCM-portion.
 13. The method of claim 1, whereinthe mechanical mechanism comprises a fastener connected to theVCM-portion, and wherein actuating motion comprises operating thefastener to transmit movement actuation forces to the VCM portion byfluid communication via the conduit.
 14. The method of claim 1, whereinactuation of motion of at least one of the VCM-portion and thevehicle-platform portion is by an electrical motor.
 15. The method ofclaim 14, wherein the electrical motor is adapted to be remotelyoperated by a remote controller.
 16. The method of claim 2, wherein theconnecting is carried out from a front side of the VCM, regardless ofthe positioning of the VCM connector within the VCM.
 17. The method ofclaim 2, wherein each of the VCM-portion and thevehicle-platform-portion of the multi-interface connection-elementcomprises a plurality of connection interfaces, each associated with atleast one electronic subsystem and at least one flow subsystem of themultiple electronic and/or flow subsystems.
 18. The method of claim 1,wherein only the VCM-portion is movable and the vehicle-platform-portionis stationary.